#include <SD.h>
#define SD_ChipSelectPin 10
#include <TMRpcm.h>
#include <pcmConfig.h>
#include <pcmRF.h>
#include <SPI.h>
#include <SoftwareSerial.h>
TMRpcm cool;
SoftwareSerial BT(5, 6); // RX, TX


/** JAUNDICE: AI Assistant robot with Arduino and Python **
 *  
 *  author: ashraf minhaj
 *  mail: ashraf_minhaj@yahoo.com
 *  Last Edit: Nov 2020
 *  
 *  License: Copyright (C) Ashraf Minhaj.
 *  General Public License (GPL3+)
*/

#include<Servo.h>

Servo head;
Servo l_hand;
Servo r_hand;



// received data
byte val = "";
void setup() {
 Serial.begin(9600);     // Für USB
  BT.begin(9600);         // Für Bluetooth
  delay(1000);

  cool.speakerPin = 9;
  pinMode(8, OUTPUT);
  digitalWrite(8, HIGH);

  head.attach(2);
  l_hand.attach(7);
  r_hand.attach(4);

}

void standby(){
  // all motors to these positions
  head.write(90);
  int r_pos = 30;
  int l_pos = map(r_pos, 0, 180, 180, 0);
  
  l_hand.write(l_pos);
  r_hand.write(r_pos);
}

void hi(){

  head.write(90);

  int i = 0;
  for(i=30; i<= 170; i++){
    r_hand.write(i);
    delay(5);
  }

  for(i=170; i>= 100; i--){
    r_hand.write(i);
    delay(5);
  }

  for(i=100; i<= 170; i++){
    r_hand.write(i);
    delay(5);
  }

  for(i=170; i>= 30; i--){
    r_hand.write(i);
    delay(5);
  }

  standby();
}

//---------------------------------------------------------------------------------







void hands_up(){
  // do this on every command (nothing much just move hands a bit)

  //head.write(150);
  //delay(300);
  //head.write(90);
  
  int i = 0;
  for(i=30; i<= 170; i++){
    int r_pos = i;
    int l_pos = map(r_pos, 0, 180, 180, 0);
  
    l_hand.write(l_pos);
    r_hand.write(r_pos);
    delay(5);
  }

  delay(600);

  for(i=170; i>= 30; i--){
    int r_pos = i;
    int l_pos = map(r_pos, 0, 180, 180, 0);
  
    l_hand.write(l_pos);
    r_hand.write(r_pos);
    delay(5);
  }
  
}

void weight_lift(){
  // lift weight using both hands
  int i = 0;
  for(i=30; i<= 170; i++){
    int r_pos = i;
    int l_pos = map(r_pos, 0, 180, 180, 0);
  
    l_hand.write(l_pos);
    r_hand.write(r_pos);
    delay(5);
  }

  for(int count=0; count<=4; count++){
    for(i=170; i>= 60; i--){
      int r_pos = i;
      int l_pos = map(r_pos, 0, 180, 180, 0);
  
      l_hand.write(l_pos);
      r_hand.write(r_pos);
      delay(5);
      }

    for(i=60; i<= 170; i++){
      int r_pos = i;
      int l_pos = map(r_pos, 0, 180, 180, 0);
  
      l_hand.write(l_pos);
      r_hand.write(r_pos);
      delay(5);
      }
    }

  for(i=170; i>= 30; i--){
    int r_pos = i;
    int l_pos = map(r_pos, 0, 180, 180, 0);
  
    l_hand.write(l_pos);
    r_hand.write(r_pos);
    delay(5);
  }
}

void excited(){
  return;
}

void look_left(){
  // rotate hed to left
  head.write(180);
}

void confused(){

  for(int count=0; count<=1; count++){
    head.write(30);
    r_hand.write(170);
    delay(700);
    r_hand.write(30);
    head.write(120);
    l_hand.write(30);
    delay(700);
    l_hand.write(160);
    }
  standby();
}

void double_punch(){
  // do a punch
  int i = 0;
  for(i=30; i>= 0; i--){
      int r_pos = i;
      int l_pos = map(r_pos, 0, 180, 180, 0);
  
      l_hand.write(l_pos);
      r_hand.write(r_pos);
      delay(5);
      }
  delay(2000);
  
  int r_pos = 80;
  int l_pos = map(r_pos, 0, 180, 180, 0);
  l_hand.write(l_pos);
  r_hand.write(r_pos);
  delay(500);
  standby();
}

void r_upper_cut(){
  // make right upper-cut
  int i = 0;
  for(i=30; i<= 170; i++){
    int r_pos = i;
    int l_pos = map(r_pos, 0, 180, 180, 0);
  
    l_hand.write(l_pos);
    r_hand.write(r_pos);
    delay(5);
  }

  for(int count=0; count<=4; count++){
    int i = 0;
    for(i=170; i>= 60; i--){
      r_hand.write(i);
      delay(1);
      }

    for(i=60; i<= 170; i++){
      r_hand.write(i);
      delay(1);
      }
    }
   standby();
   delay(100);
}

void smash(){
  // smash things
  int i = 0;
  for(i=30; i<= 170; i++){
    int r_pos = i;
    int l_pos = map(r_pos, 0, 180, 180, 0);
  
    l_hand.write(l_pos);
    r_hand.write(r_pos);
    delay(5);
  }
  delay(2000);
  for(i=170; i>= 0; i--){
    int r_pos = i;
    int l_pos = map(r_pos, 0, 180, 180, 0);
  
    l_hand.write(l_pos);
    r_hand.write(r_pos);
    delay(1);
  }
  delay(300);
  int r_pos = 180;
  int l_pos = map(r_pos, 0, 180, 180, 0);
  
  l_hand.write(l_pos);
  r_hand.write(r_pos);
  delay(1000);
  standby();
}

void eye_detect(){
  // do something if eye sensor detect motion
  return;
}

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

  if (Serial.available()) {
    val = Serial.read();
  } else if (BT.available()) {
    val = BT.read();
  } else {
    return; // Nichts empfangen, Ende
  }
    if(val == 'h'){
      // do hi


    cool.setVolume(5);
    cool.play("abcd.wav");



       hi();
    
    }
    if(val == 'p'){
      // do hi
       double_punch();
    }
    if(val == 'u'){
      hands_up();
      delay(3000);
    }
    if(val == 'l'){
      standby();
      look_left();
      delay(2000);
    }
    if(val == 'U'){
      // uppercut
      r_upper_cut();
      delay(2000);
    }
    if(val == 's'){
      smash();
      delay(2000);
    }
  }