/*
競技用ランサーロボット
半蔵 2.1

[7 654321 0]
  |      |
  |      |
[]---{}---[]
    / .\
   /  | \
[]+--{}--+[]

(c)2012 kou029w - MIT License [http://kou029w.appspot.com/mit-license.txt]
*/

#include <Servo.h>
#include "Motor.h"

//#define LINE_BLACK //白地・黒ライン有効
//#define PIN_SENSOR ( ((PINC<<2) & ~0x03) | ((PINB>>4) & 0x03) )

const unsigned int TARGET_NONE_COUNT = 85;
const unsigned long LAP_COUNT = 854;

const int LANCE_ANGLE0 =   0; //度
const int LANCE_ANGLE1 =  43;
const int LANCE_ANGLE2 =  54;
const int LANCE_ANGLE3 = -33;
const int LANCE_ANGLE4 =  34;
const unsigned int LANCE_INTERVAL = 70; //ms

const byte SPEED_DEFAULT = 255;

const int HANDLE_DEGREE_DEFAULT = 90; //度
const unsigned int HANDLE_MIN = ( 800+30); //us
const unsigned int HANDLE_MAX = (2300+30); //us

const int LANCE_DEGREE_DEFAULT = 90; //度
const unsigned int LANCE_MIN =  544; //us
const unsigned int LANCE_MAX = 2400; //us

const byte PIN_LED           =  4;
const byte PIN_ROT           =  2;

const byte PIN_SENSOR_0      = 12;
const byte PIN_SENSOR_1      = 13;
const byte PIN_SENSOR_2      = 14;
const byte PIN_SENSOR_3      = 15;
const byte PIN_SENSOR_4      = 16;
const byte PIN_SENSOR_5      = 17;
const byte PIN_SENSOR_6      = 18;
const byte PIN_SENSOR_7      = 19;

const byte PIN_SERVO_HANDLE  = 10;
const byte PIN_SERVO_LANCE   =  9;

const byte PIN_MOTOR_LEFT_1  =  5;
const byte PIN_MOTOR_LEFT_2  =  7;
const byte PIN_MOTOR_RIGHT_1 =  6;
const byte PIN_MOTOR_RIGHT_2 =  8;

const byte MODE_STOP  = 0x10;
const byte MODE_TRACE = 0x11;
const byte MODE_LEFT  = 0x12; //左カーブ
const byte MODE_RIGHT = 0x13; //右カーブ

const byte TARGET_NONE     = 0x40;
const byte TARGET_PARALLEL = 0x41;  //平行標的
const byte TARGET_VERTICAL = 0x42;  //垂直標的
const byte TARGET_CYLINDER = 0x43;  //円筒標的

const byte MASK_MODE_TRACE         = 0b01111110;
const byte MASK_CHECK_MARKER       = 0b10000001;
const byte MASK_CHECK_MARKER_RIGHT = 0b00000001;
const byte MASK_CHECK_MARKER_LEFT  = 0b10000000;

/**************************************/

Servo servoHandle;
Servo servoLance;
Motor motorR;
Motor motorL;

byte mode;
byte target;
unsigned int counterOld;
char lanceAngle;

/**************************************/

void trace(byte sensor){
  switch( sensor & MASK_MODE_TRACE ){
  case 0b01000000:
    handle(-20);
    motorMode(GO, GO, 0x40, 0xff);
    lanceAngle = 0;
    break;
  case 0b01100000:
    handle(-16);
    motorMode(GO, GO, 0xff, 0xff);
    lanceAngle = 0;
    break;
  case 0b00100000:
    handle(-12);
    motorMode(GO, GO, 0xff, 0xff);
    lanceAngle = 0;
    break;
  case 0b00110000:
    handle(-5);
    motorMode(GO, GO, 0xff, 0xff);
    break;
  case 0b00010000:
    handle(-2);
    motorMode(GO, GO, 0xff, 0xff);
    break;
  case 0b00011000:
    handle(0);
    motorMode(GO, GO, 0xff, 0xff);
    break;
  case 0b00001000:
    handle(2);
    motorMode(GO, GO, 0xff, 0xff);
    break;
  case 0b00001100:
    handle(5);
    motorMode(GO, GO, 0xff, 0xff);
    break;
  case 0b00000100:
    handle(7);
    motorMode(GO, GO, 0xff, 0xff);
    break;
  case 0b00000110:
    handle(10);
    motorMode(GO, GO, 0xff, 0xff);
    break;
  case 0b00000010:
    handle(12);
    motorMode(GO, GO, 0xff, 0xff);
    break;
  }
}

void motorMode(byte motorLeftMode, byte motorRightMode, byte motorLeftSpeed, byte motorRightSpeed){
  motorL.mode( motorLeftMode,  motorLeftSpeed);
  motorR.mode(motorRightMode, motorRightSpeed);
}

void handle(int degree){
  servoHandle.write(HANDLE_DEGREE_DEFAULT + degree);
}

void lance(int degree){
  servoLance.write(LANCE_DEGREE_DEFAULT - degree);
}

/* ロータリーエンコーダーの変化を見る
  todo:外部割り込み使ってみたい、、、
*/
volatile unsigned long counter = 0;
void count(){
  static byte rot[2] = {0}; //rot[0]:今の状態, rot[1]:前回の状態
  rot[0] = digitalRead(PIN_ROT);
  if(rot[0] != rot[1]){
    rot[1] = rot[0];
    counter++;
  }
}

void sensorInit(){
  pinMode(PIN_SENSOR_0, INPUT);
  pinMode(PIN_SENSOR_1, INPUT);
  pinMode(PIN_SENSOR_2, INPUT);
  pinMode(PIN_SENSOR_3, INPUT);
  pinMode(PIN_SENSOR_4, INPUT);
  pinMode(PIN_SENSOR_5, INPUT);
  pinMode(PIN_SENSOR_6, INPUT);
  pinMode(PIN_SENSOR_7, INPUT);
}

byte sensorRead(){
  byte sensor = 0;
  if(digitalRead(PIN_SENSOR_0)) sensor += 0b00000001;
  if(digitalRead(PIN_SENSOR_1)) sensor += 0b00000010;
  if(digitalRead(PIN_SENSOR_2)) sensor += 0b00000100;
  if(digitalRead(PIN_SENSOR_3)) sensor += 0b00001000;
  if(digitalRead(PIN_SENSOR_4)) sensor += 0b00010000;
  if(digitalRead(PIN_SENSOR_5)) sensor += 0b00100000;
  if(digitalRead(PIN_SENSOR_6)) sensor += 0b01000000;
  if(digitalRead(PIN_SENSOR_7)) sensor += 0b10000000;
  return sensor;
}

void setup() {
  //サーボ
  servoHandle.attach(PIN_SERVO_HANDLE, HANDLE_MIN, HANDLE_MAX);
  servoLance.attach(PIN_SERVO_LANCE, LANCE_MIN, LANCE_MAX);
  handle(0);
  lance(0);
  //モーター
  motorL.attach( PIN_MOTOR_LEFT_1,  PIN_MOTOR_LEFT_2);
  motorR.attach(PIN_MOTOR_RIGHT_1, PIN_MOTOR_RIGHT_2);
  motorMode(STOP, STOP, 0, 0);
  //センサー
  sensorInit();
  //エンコーダー
  pinMode(PIN_ROT, INPUT);
  //LED
  pinMode(PIN_LED, OUTPUT);
  digitalWrite(PIN_LED, HIGH);
  //モード
  mode = MODE_STOP;
  delay(1000);
  /* スタート */
  digitalWrite(PIN_LED, LOW);
  mode = MODE_TRACE;
  handle(0);
  lance(0);
  motorMode(GO, GO, 0xff, 0xff);
}

void loop(){
  //センサーを見る
  byte sensor = 0;
#ifdef LINE_BLACK //黒ライン
//  sensor = PIN_SENSOR;
  sensor = sensorRead();
#else
//  sensor = ~PIN_SENSOR;
  sensor = ~sensorRead();
#endif
  //ロータリーエンコーダーの変化を見る
  count();
  //ランスの動作を決定する
  switch(target){
  case TARGET_NONE:
    lanceAngle = LANCE_ANGLE0;
    if(counter - counterOld > TARGET_NONE_COUNT ) target = 0;
    break;
  default:
  switch( sensor & MASK_CHECK_MARKER ){
  case 0x81:
    target = TARGET_NONE;
    counterOld = counter;
    break;
  case 0x01:
    lanceAngle = LANCE_ANGLE1;
    target = TARGET_PARALLEL;
    break;
  case 0x80:
    lanceAngle = LANCE_ANGLE3;
    target = TARGET_VERTICAL;
    break;
  }
  break;
  }
  if( lanceAngle == LANCE_ANGLE1 && counter%LAP_COUNT > LAP_COUNT/2) lanceAngle = LANCE_ANGLE4;
  static unsigned long millis_lance = 0;
  if(millis() - millis_lance > LANCE_INTERVAL){
    millis_lance = millis();
    switch(lanceAngle){
      case LANCE_ANGLE1:
        lanceAngle = LANCE_ANGLE2;
        break;
      case LANCE_ANGLE2:
        lanceAngle = LANCE_ANGLE1;
        break;
    }
  }
  //ランスの動作を決定する
  switch(target){
  case TARGET_NONE:
    lanceAngle = LANCE_ANGLE0;
    if(counter - counterOld > TARGET_NONE_COUNT ) target = 0;
    break;
  case TARGET_PARALLEL:
  case TARGET_VERTICAL:
  case TARGET_CYLINDER:
  default:
  switch( sensor & MASK_CHECK_MARKER ){
  case 0x81:
    target = TARGET_NONE;
    counterOld = counter;
    break;
  case 0x01:
    lanceAngle = LANCE_ANGLE1;
    target = TARGET_PARALLEL;
    break;
  case 0x80:
    lanceAngle = LANCE_ANGLE3;
    target = TARGET_VERTICAL;
    break;
  }
  break;
  }
  //全体の動作を決定する
  switch(mode){
  case MODE_TRACE:
    trace(sensor);
    if( counter > LAP_COUNT*6 - LAP_COUNT/14 ){     // 6周したら、円筒標的を狙いに行く
      mode = MODE_STOP;
    }
    break;
  case MODE_STOP:
  default:
    digitalWrite(PIN_LED, HIGH);
    handle(0);
    lanceAngle = -90;
    motorMode(GO, GO, 0xff, 0xff);
    if( counter - counterOld > LAP_COUNT/21 ){
      motorMode(STOP, STOP, 0xff, 0xff);
    }
  }
  
  lance(lanceAngle);
}