// RECIEVER CODE

//NOTE :- THIS RECEIVER CODE IS USED WHEN YOU WANT TO CONTROL THE ROBOT VIA THE COMPUTER
  
  #include <VirtualWire.h>

//declaring pin Nos of FIRST L293D
int en1 = 5;
 int en2 = 6;
 int in1 = 7;
 int in2 = 8;
 int in3 = 9;
 int in4 = 10;
 //declaring pin nos of 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);//Receiver at Digital Pin 2
    vw_rx_start();// Start the receiver PLL running

    
 for (int i = 0; i < 12; i++) 
 {
        pinMode(motorPin[i], OUTPUT);
 }//close for loop

/*
This is basically what the 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]);
        if(buf[i] == 'f')
        {
          forward();//go forward when f is pressed
        }
        if(buf[i] == 'b')
      {
        backward();//go backward when b is pressed
      }
        if(buf[i] == 's')
      {
        stopMotor();//stop/brake when s is pressed
      }
        if(buf[i] == 'l')
      {
        left();//go left when l is presed
      }
        if(buf[i] == 'r')
        {
          right();//go right when r is pressed
        }
	    
	}//close for loop
	
        digitalWrite(13, false);

   }//close main if
}//close loop
//you can print the data entered when debugging by adding Serial.println

////////////////////////////////////////////////////////////////////////////////////////

//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