CAR

/ libray for motors
#include <AFMotor.h>
// librays for the transmitter/receiver
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>

// declares all the motors
AF_DCMotor motor1(1); 
AF_DCMotor motor2(2);
AF_DCMotor motor3(3);
AF_DCMotor motor4(4);

// int Xpot;
// int Ypot;

// sets the pins for the radio
RF24 radio(8, 9); // CE, CSN
const byte Address[6] = "00001";

// sets the max speed and the joystick values
int speed = 255; 

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  radio.begin();                  
  radio.openReadingPipe(1, Address);

  // the motors will be stopped
  motor1.setSpeed(0);  
  motor2.setSpeed(0);
  motor3.setSpeed(0);
  motor4.setSpeed(0); 

  
}

// might need an update function for joystick, example can be found in Lab 4 Part 5

void loop() {
  // put your main code here, to run repeatedly:
  radio.startListening();
  

  // when the radio is range4
  if (radio.available()) {    
    while (radio.available()) {
      // radio.read(Xpot, sizeof(Xpot));
      // radio.read(Ypot, sizeof(Ypot));
      int values[2];
      radio.read(values, sizeof(values));
      int Xpot = values[0];
      int Ypot = values[1];

      int XPOS = map(Xpot, 2, 1018, 0, 2 );
      int YPOS = map(Ypot, 2, 1018, 0, 2 );

      // Serial.print(Xpot);
      // Serial.println(Ypot);
      Serial.print(XPOS);
      Serial.print (YPOS);

    // forward
      if (XPOS == 1 && YPOS == 0){
        motor1.setSpeed(speed);
        motor1.run(FORWARD);
        motor2.setSpeed(speed);
        motor2.run(FORWARD);
        motor3.setSpeed(speed);
        motor3.run(FORWARD);
        motor4.setSpeed(speed);
        motor4.run(FORWARD);
        Serial.println("forward");
      }
      // backwards
      if (XPOS == 1 && YPOS == 2){
        motor1.setSpeed(speed);
        motor1.run(BACKWARD);
        motor2.setSpeed(speed);
        motor2.run(BACKWARD);
        motor3.setSpeed(speed);
        motor3.run(BACKWARD);
        motor4.setSpeed(speed);
        motor4.run(BACKWARD);
        Serial.println("backwards");
      }
      //right
      if (XPOS == 2 && YPOS == 1){
        motor1.setSpeed(speed);
        motor1.run(BACKWARD);
        motor2.setSpeed(speed);
        motor2.run(BACKWARD);
        motor3.setSpeed(speed);
        motor3.run(FORWARD);
        motor4.setSpeed(speed);
        motor4.run(FORWARD);
        Serial.println("right");
      }
      //left
      if (XPOS == 0 && YPOS == 1){
        motor1.setSpeed(speed);
        motor1.run(FORWARD);
        motor2.setSpeed(speed);
        motor2.run(FORWARD);
        motor3.setSpeed(speed);
        motor3.run(BACKWARD);
        motor4.setSpeed(speed);
        motor4.run(BACKWARD);
        Serial.println("left");
      }
      //topleft 
      if (XPOS == 0 && YPOS == 0){
        motor1.setSpeed(speed);
        motor1.run(FORWARD);
        motor2.setSpeed(speed);
        motor2.run(FORWARD);
        motor3.setSpeed(speed/3);
        motor3.run(FORWARD);
        motor4.setSpeed(speed/3);
        motor4.run(FORWARD);
        Serial.println("topleft");
      }
      //topright
      if (XPOS == 2 && YPOS == 0){
        motor1.setSpeed(speed/3);
        motor1.run(FORWARD);
        motor2.setSpeed(speed/3);
        motor2.run(FORWARD);
        motor3.setSpeed(speed);
        motor3.run(FORWARD);
        motor4.setSpeed(speed);
        motor4.run(FORWARD);
        Serial.println("topright");
      }
      //bottomleft
      if (XPOS == 0 && YPOS == 2){
        motor1.setSpeed(speed);
        motor1.run(BACKWARD);
        motor2.setSpeed(speed);
        motor2.run(BACKWARD);
        motor3.setSpeed(speed/3);
        motor3.run(BACKWARD);
        motor4.setSpeed(speed/3);
        motor4.run(BACKWARD);
        Serial.println("bottomleft");
      }
      //bottomright
      if (XPOS == 2 && YPOS == 2){
        motor1.setSpeed(speed/3);
        motor1.run(BACKWARD);
        motor2.setSpeed(speed/3);
        motor2.run(BACKWARD);
        motor3.setSpeed(speed);
        motor3.run(BACKWARD);
        motor4.setSpeed(speed);
        motor4.run(BACKWARD);
        Serial.println("bottomright");
      }
      // stop 
      if (XPOS == 1 && YPOS == 1){
        motor1.setSpeed(0);  
        motor1.run(RELEASE);
        motor2.setSpeed(0);
        motor1.run(RELEASE);
        motor3.setSpeed(0);
        motor1.run(RELEASE);
        motor4.setSpeed(0); 
        motor1.run(RELEASE);
        Serial.println("stop");
      }
    }  
  } 
 
}