// RECIEVER CODE

//NOTE :- THIS CODE IS USED WHEN CONTROLLING THE ROBOT VIA THE BREADBORD REMOTE

#include <VirtualWire.h>

//declaring pin nos to FIRST L293D
int en1 = 5;
 int en2 = 6;
 int in1 = 7;
 int in2 = 8;
 int in3 = 9;
 int in4 = 10;
 //declaring pin nos to SECOND L293D
 int en1o2 = 3;
 int en2o2 = 11;
 int in1o2 = 4;
 int in2o2 = 12;
 int in3o2 = 14;
 int in4o2 = 15;
 int motorPin[] = {3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15};//array for storing pin nos

void setup()
{
    Serial.begin(9600);	// Debugging only
    Serial.println("setup");

    // Initialise the IO and ISR
    vw_setup(2000);	 // Bits per sec
    vw_set_rx_pin(2);    //Rx Data pin to Digital  Pin 2
    vw_rx_start();       // Start the receiver PLL running

    for (int i = 0; i < 12; i++) 
   {
          pinMode(motorPin[i], OUTPUT);
   }
/*
This is basically what the above for loop does :-
pinMode(en1, OUTPUT);
pinMode(en2, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(en1o2, OUTPUT);
pinMode(en2o2, OUTPUT);
pinMode(in1o2, OUTPUT);
pinMode(in2o2, OUTPUT);
pinMode(in3o2, OUTPUT);
pinMode(in4o2, OUTPUT);
*/
}//close setup

void loop()
{
    uint8_t buf[VW_MAX_MESSAGE_LEN];
    uint8_t buflen = VW_MAX_MESSAGE_LEN;

    if (vw_get_message(buf, &buflen)) // Non-blocking
    {
	int i;

        digitalWrite(13, true); // Flash a light to show received good message
	// Message with a good checksum received, dump it.
	for (i = 0; i < buflen; i++)
	{
	 Serial.print(buf[i]);//print received command
        if(buf[i] == '1')//if button 1 is pressed.... i.e.forward buton
      {
        forward();//go forward
        Serial.println(" = forward");
      }
    if(buf[i] == '2')//if button 2 is pressed.... i.e.back buton
      {
        backward();//go backward
        Serial.println(" = backward");
      }
        if(buf[i] == '3')//if button 3 is pressed.... i.e.left buton
      {
        left();//go left
        Serial.println(" = left");
      }
        if(buf[i] == '4')//if button 4 is pressed.... i.e.right buton
      {
        right();//go right
        Serial.println(" = right");
      }
        if(buf[i] == '5')//if button 5 is pressed.... i.e.stop buton
       {
         stopMotor();//stop/brake
         Serial.println(" = stopped");
       }
	    Serial.print(" ");
	}
	Serial.println("");
        digitalWrite(13, false);

   }//close if
}//close loop


////////////////////////////////////////////////////////////////////////////////////////
//set of functions

void forward()
{
  digitalWrite(en1,HIGH);
  digitalWrite(en2,HIGH);
  digitalWrite(en1o2,HIGH);
  digitalWrite(en2o2,HIGH);
  digitalWrite(in1,HIGH);
  digitalWrite(in1o2,HIGH);
  digitalWrite(in2,LOW);
  digitalWrite(in2o2,LOW);
  digitalWrite(in3,LOW);
  digitalWrite(in3o2,LOW);
  digitalWrite(in4,HIGH);
  digitalWrite(in4o2,HIGH);
  }
  
  
void backward()
{
  digitalWrite(en1,HIGH);
  digitalWrite(en2,HIGH);
  digitalWrite(en1o2,HIGH);
  digitalWrite(en2o2,HIGH);
  digitalWrite(in1,LOW);
  digitalWrite(in1o2,LOW);
  digitalWrite(in2,HIGH);
  digitalWrite(in2o2,HIGH);
  digitalWrite(in3,HIGH);
  digitalWrite(in3o2,HIGH);
  digitalWrite(in4,LOW);
  digitalWrite(in4o2,LOW);
  
}

void left()
{
  digitalWrite(en1,HIGH);
  digitalWrite(en2,HIGH);
  digitalWrite(en1o2,HIGH);
  digitalWrite(en2o2,HIGH);
  digitalWrite(in1,LOW);
  digitalWrite(in1o2,LOW);
  digitalWrite(in2,LOW);
  digitalWrite(in2o2,LOW);
  digitalWrite(in3,LOW);
  digitalWrite(in3o2,LOW);
  digitalWrite(in4,HIGH);
  digitalWrite(in4o2,HIGH);
  
}

void right()
{
  digitalWrite(en1,HIGH);
  digitalWrite(en2,HIGH);
  digitalWrite(en1o2,HIGH);
  digitalWrite(en2o2,HIGH);
  digitalWrite(in1,HIGH);
  digitalWrite(in1o2,HIGH);
  digitalWrite(in2,LOW);
  digitalWrite(in2o2,LOW);
  digitalWrite(in3,LOW);
  digitalWrite(in3o2,LOW);
  digitalWrite(in4,LOW);
  digitalWrite(in4o2,LOW);
  
}

void stopMotor()
{
  digitalWrite(en1,HIGH);
  digitalWrite(en2,HIGH);
  digitalWrite(en1o2,HIGH);
  digitalWrite(en2o2,HIGH);
  digitalWrite(in1,LOW);
  digitalWrite(in1o2,LOW);
  digitalWrite(in2,LOW);
  digitalWrite(in2o2,LOW);
  digitalWrite(in3,LOW);
  digitalWrite(in3o2,LOW);
  digitalWrite(in4,LOW);
  digitalWrite(in4o2,LOW);
}
  
 //End Of Code