#include <WiFi.h>
#include <IOXhop_FirebaseESP32.h>
WiFiClient client;
WiFiServer server(80);
const char* ssid = "#enter the wifi name";
const char* password = "#enter the passwaord";
#define FIREBASE_HOST "#enter the host url"
#define FIREBASE_AUTH "#enter the Firebase authanicati0n code"



int rightMotor2 = 13;  //2= - & 1= +
int rightMotor1 = 27;   
int leftMotor2 = 4;     
int leftMotor1 = 2;    
int eneLeftMotor = 12;  
int eneRightMotor = 14; 
int led = 34;
int trig=25;
int echo=26;
int alert=32;

long duration;
int distance;




void setup()
{
  Serial.begin(115200);

  Serial.println("Connecting to WIFI");
  WiFi.begin(ssid, password);
  while ((!(WiFi.status() == WL_CONNECTED)))
  {
    delay(300);
    Serial.print("..");
  }
  Serial.println("");
  Serial.println("WiFi connected");
  Serial.println("NodeMCU Local IP is : ");
  Serial.print((WiFi.localIP()));


  Firebase.begin(FIREBASE_HOST, FIREBASE_AUTH);


  pinMode(eneLeftMotor, OUTPUT); 
  pinMode(eneRightMotor, OUTPUT); 
  pinMode(leftMotor1, OUTPUT); 
  pinMode(leftMotor2, OUTPUT);  
  pinMode(rightMotor1, OUTPUT);  
  pinMode(rightMotor2, OUTPUT);
  pinMode(led, OUTPUT);  
  pinMode(trig,OUTPUT);
  pinMode(echo,INPUT);
  pinMode(alert,OUTPUT);

  digitalWrite(eneLeftMotor,LOW);
  digitalWrite(eneRightMotor,LOW);
  digitalWrite(leftMotor1,LOW);
  digitalWrite(leftMotor2,LOW);
  digitalWrite(rightMotor1,LOW);
  digitalWrite(rightMotor2,LOW);
  digitalWrite(led,LOW);
  digitalWrite(alert,LOW);
}
void loop()
{
  String status=Firebase.getString("TESTAPP/ACTION");
  if(status=="\\\"forward\\\"")
  {
    forwardMotor();
  }
   if(status=="\\\"backward\\\"")
  {
    reverseMotor();
  } 
  if(status=="\\\"left\\\"")
  {
    leftMotor();
  } 
  if(status=="\\\"right\\\"")
  {
    rightMotor();
  } 
  if(status=="\\\"stop\\\"")
  {
    stopMotor();
  }
  if(status=="\\\"detector\\\"")
  {
    detector();
  }
  digitalWrite(trig, LOW);
  delayMicroseconds(2);

  digitalWrite(trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(trig, LOW);

  duration = pulseIn(echo, HIGH);

  distance= duration*0.034/2;

  Serial.print("Distance: ");
  Serial.println(distance);
  if(distance<=20)
  {
    digitalWrite(alert,HIGH);
    stopMotor();
  }
  else
  {
    digitalWrite(alert,LOW);
  }
} 


void forwardMotor(void)   
{
  digitalWrite(eneLeftMotor,HIGH);
  digitalWrite(eneRightMotor,HIGH);
  Serial.println("forward");
  digitalWrite(leftMotor1,HIGH);
  digitalWrite(leftMotor2,LOW);
  digitalWrite(rightMotor1,HIGH);
  digitalWrite(rightMotor2,LOW);
}


void reverseMotor(void)   
{
  digitalWrite(eneLeftMotor,HIGH);
  digitalWrite(eneRightMotor,HIGH);
  Serial.println("reverse");
  digitalWrite(leftMotor1,LOW);
  digitalWrite(leftMotor2,HIGH);
  digitalWrite(rightMotor1,LOW);
  digitalWrite(rightMotor2,HIGH);
}


void leftMotor(void)   
{
  digitalWrite(eneLeftMotor,HIGH);
  digitalWrite(eneRightMotor,HIGH); 
  Serial.println("left");
  digitalWrite(leftMotor1,LOW);
  digitalWrite(leftMotor2,HIGH);
  digitalWrite(rightMotor1,HIGH);
  digitalWrite(rightMotor2,LOW);
}


void rightMotor(void)
{
  digitalWrite(eneLeftMotor,HIGH);
  digitalWrite(eneRightMotor,HIGH);
  Serial.println("right");
  digitalWrite(leftMotor1,HIGH);
  digitalWrite(leftMotor2,LOW);
  digitalWrite(rightMotor1,LOW);
  digitalWrite(rightMotor2,HIGH);
}

void stopMotor(void)   
{
  digitalWrite(eneLeftMotor,LOW);
  digitalWrite(eneRightMotor,LOW);
  Serial.println("Stop");
  digitalWrite(leftMotor1,LOW);
  digitalWrite(leftMotor2,LOW);
  digitalWrite(rightMotor1,LOW);
  digitalWrite(rightMotor2,LOW);
}

void detector(void)
{
  Serial.println("DETECTED");
  digitalWrite(led,HIGH);
  
  }