/*Sergio Martinez
*CPS42
*Milk shake machinestirrer
*/
//Serve Switch 
const int serveSwitch = 4; //Input that enables the serving sequence for strawberry milk.
int serveSwitchState = 0;  //Listens for the state of the serveSwitch. ON/OFF

//Reversable motor leads for the stirrer actuator.
const int linearActuatorLead1 = 2;
const int linearActuatorLead2 = 3;

//Switches to register the bottom and top of the actuator range.
const int actuatorBottom = 8;
const int actuatorTop = 10;
int bottomSwitchState = 0;
int topSwitchState = 0;

//Enables the driver chip and speed of the motors in the system.
const int motorDriverChip = 9;

//Motor speed to be used for each motor in Hz.
int stirrerDropSpeed = 20;
int stirrerLiftSpeed = 45;
int stirSpeed = 20;

//stirrer motor pin
const int stirrer = 5;

//Milk pump pin
const int milkPump = 6;

//Strawberry syrup pump pin
const int strawberryPump = 7;

void loop(){
  
  if (wantsMilk()){ //If user wants milk
    //Drop stirrer.
    dropstirrer();
    delay(3000); //make it last longer, just for show.
    //Serve milk.
    serveMilk();
    delay(3000);
    //Serve strawberry syrup
    serveStrawberry();
    delay(3000);
    //Begin stiring.
    stir();
    delay(3000);
    //Hide the stirrer.
    liftstirrer();
  }
}
/*
 *Assign inputs and outputs.
*/
void setup(){
  pinMode(linearActuatorLead1, OUTPUT);
  pinMode(linearActuatorLead2, OUTPUT);
  pinMode(motorDriverChip, OUTPUT);
  pinMode(stirrer, OUTPUT);
  pinMode(milkPump, OUTPUT);
  pinMode(strawberryPump, OUTPUT);
  pinMode(serveSwitch, INPUT);
  pinMode(actuatorBottom, INPUT);
  pinMode(actuatorTop, INPUT);
  
  //Disables the driver chip
  analogWrite(motorDriverChip, 0);
}

/*
 *Enable the motor driver chip with a predetermined speed.
*/
void enableMotors(int motorSpeed){analogWrite(motorDriverChip, motorSpeed);}
/*
 *Disable all the motors
*/
void disableMotors(){analogWrite(motorDriverChip, 0);}
/*
 *Turns on the stirrer motor for 7 seconds.
*/
void stir(){
  //Stir the milk for 7 seconds.
  analogWrite(stirrer, stirSpeed);
  delay(10000);
  //Turn it off.
  analogWrite(stirrer, 0);
}
/*
 *Reverses the lever motor.
 *Precondition: Lever must be dropped.
 *Postcondition: Runs the motor until it reaches the TOP of the bolt.
*/
void liftstirrer(){
  //Set the lift speed
  enableMotors(stirrerLiftSpeed);
  //Reverse the process to hide the lever-stirrer.
  digitalWrite(linearActuatorLead1, HIGH);
  digitalWrite(linearActuatorLead2, LOW);
  delay(800);
  //Turn off motor.
  disableMotors();
  digitalWrite(linearActuatorLead1, LOW);
}
/*
 *Turns the lever motor on to drop the stirrer.
 *Precondition: Input and output pins must be setup.
 *Postcondition: Runs the motor until it reaches the BOTTOM of the lever bolt.
*/
void dropstirrer(){
  enableMotors(stirrerDropSpeed);
  //Starts the lever motor. It drops for .6 seconds.
  digitalWrite(linearActuatorLead1, LOW);
  digitalWrite(linearActuatorLead2, HIGH);
  delay(600);
  //Turn off the motor.
  disableMotors();
  digitalWrite(linearActuatorLead2, LOW);
}
/*
 *Activates the milk pump.
*/
void serveMilk(){
  digitalWrite(milkPump, HIGH);
  delay(4000); //serve for three seconds.
  digitalWrite(milkPump, LOW);
}
/*
 *Activates the strawberry pump.
*/
void serveStrawberry(){
  digitalWrite(strawberryPump, HIGH);
  delay(2000); //serve for one second.
  digitalWrite(strawberryPump, LOW);
}
/*
 *Reads if user press the serve button.
 *Return true if the switch has been pressed.
*/
boolean wantsMilk(){
  boolean wants = false;
  serveSwitchState = digitalRead(serveSwitch);  //reads the input.
  delay(1);
  if (serveSwitchState == 1){ //If user wants milk.
    wants = true;  //change state to true.
  }
  return wants; //return whether user wants or not.
}