/*
 * QT
 * Description:
 * Author: Nicholas Stone
 * Date: 1/29/2017
 * Version: 1
 */
const int motor1Pin = D3;    // H-bridge leg 1
const int motor2Pin = D4;    // H-bridge leg 2
const int enablePin = D5;    // H-bridge enable pin
const int phototransPin = A0;
int photoSampleRate = 100;
int light = 0;
int dcMotorStatus = 0;
const int photoLightThres = 2000;
const int bodyLoopCounter = 10;
void setup() {
    Serial.begin(9600);
    // set all the other pins you're using as outputs:
    pinMode(motor1Pin, OUTPUT);
    pinMode(motor2Pin, OUTPUT);
    pinMode(enablePin, OUTPUT);
    //pinMode(phototransPin,INPUT);
    // set enablePin high so that motor can turn on:
    digitalWrite(enablePin, HIGH);
  }
//If switch is high, turn the motor one way by taking one H-bridge pin high and the other low.
//If the switch is low, reverse the direction by reversing the states of the two H-bridge pins.
void loop() {
    int i = 0;
    light = analogRead(phototransPin);
    while(light<photoLightThres) {
      if(dcMotorStatus==0) {
        digitalWrite(enablePin, HIGH);
        dcMotorStatus = 1;
      }
    while(i<bodyLoopCounter && light<photoLightThres) {
      if(i==0){
        digitalWrite(motor1Pin, LOW);   // set leg 1 of the H-bridge low
        digitalWrite(motor2Pin, HIGH);  // set leg 2 of the H-bridge high
      }
      i++;
      light = analogRead(phototransPin);
      delay(photoSampleRate);
      Serial.print("CW Counter Value: ");
      Serial.println(i);
    }
    while(i<2*bodyLoopCounter && light<photoLightThres) {
      if(i==bodyLoopCounter){
        digitalWrite(motor1Pin, HIGH);  // set leg 1 of the H-bridge high
        digitalWrite(motor2Pin, LOW);   // set leg 2 of the H-bridge low
      }
    i++;
    light = analogRead(phototransPin);
    delay(photoSampleRate);
    Serial.print("CCW Counter Value: ");
    Serial.println(i);
  }
      if(i==2*bodyLoopCounter && light<photoLightThres){
          i = 0;
        }
}
if(dcMotorStatus==1)
{
  dcMotorStatus = 0;
  digitalWrite(enablePin, LOW);
}
Serial.print("Light Value: ");
Serial.println(analogRead(phototransPin));
delay(photoSampleRate);
  }