// A COMMENTER ! 
// .......
// page wiki + photos : http://reso-nance.org/wiki/projets/creer
// organiser son dossier . dessins, electronic (connexions), programme, ...
 
// source .  https://github.com/sparkfun/Monster_Moto_Shield/blob/master/Firmware/MonsterMoto_Shield_Example_Sketch/MonsterMoto_Shield_Example_Sketch.ino
 
#define DURATION_SAMPLING 5 // temps entre chaque valeur du capteur et changement de vitesse
 
// Seauence de vitesses pour le moteur
const int NB_SEQUENCE = 8; // nombre de sequence
int speedSequence [][2] = { // tableau de couples de valeurs (pwm entre 0 et 255, ms)
  {50, 1000}, // speed = 50, ms = 1000
  {200, 5000},
  {100, 2000},
  {100, 10000},
  {255, 3000},
  {255, 4000},
  {50, 5000},
  {50, 10000}, // finir avec la meme vitesse
}; 
 
float currentSpeed = 0;
 
// Effect Hall sensor
const int hallPin = 10;    // the pin that the pushhall is attached to
int hallPushCounter = 0;   // counter for the number of hall presses
int hallState = 0;         // current state of the hall
int lasthallState = 0;     // previous state of the hall
 
void setup()
{
  // Communication
  Serial.begin(9600);
 
  // Sensor setup
  pinMode(hallPin, INPUT);
 
  // Motor Setup
  pinMode(6, OUTPUT); // motor 2 PWM
  pinMode(4, OUTPUT); // motor 2 INA: Clockwise input
  pinMode(9, OUTPUT); // motor 2 INB: Counter-clockwise input
  digitalWrite(4, LOW); 
  digitalWrite(9, LOW);
 
  // Motor direction
  digitalWrite(9, HIGH); // 4 or 9
 
  delay(2000);
}
 
void loop()
{  
  // Launch seauence of speed variations
  readMotorSequence();  
}
 
// Speed variations
void readMotorSequence(){
  int destSpeed = 0; 
  int destDuration = 0;
  float deltaSpeed;
 
  // boucle sur la seauence globale
  for (int i = 0; i < NB_SEQUENCE; i++) // nombre de seauence = 5
  {
    destSpeed = speedSequence[i][0]; // recupere les valeurs du tableau de seauence
    destDuration = speedSequence[i][1];
    deltaSpeed = (destSpeed - currentSpeed ) / (destDuration / DURATION_SAMPLING) ; // calcul du delta de la vitesse
 
    /*
    // DEBUG
    Serial.println("*******************"); 
    Serial.print(destSpeed); 
    Serial.print(" " );
    Serial.println(destDuration);   
    Serial.print(" " );
    Serial.println(deltaSpeed);
    */
 
    // interpolation de la vitesse vers la vitesse de destination destSpeed
    for (int t = 0 ; t < destDuration ; t = t + DURATION_SAMPLING) {  
      //Serial.print("Speed: ");
      //Serial.println(currentSpeed);
 
      // Motor speed      
      analogWrite(6, (int) currentSpeed); 
 
      currentSpeed = currentSpeed + deltaSpeed;
 
      // Get and send sensor value at the same time
      getHallSensor();
 
      delay(DURATION_SAMPLING);
    }
  }
}
 
// Get value of hall sensor and send it through Serial communication
void getHallSensor() {
  hallState = digitalRead(hallPin);
  if (hallState != lasthallState) {
    if (hallState == HIGH) {
      Serial.write(hallPushCounter); // better than Serial.println(hallPushCounter);
      hallPushCounter++;
    }
  }
  lasthallState = hallState;
}