#include <Servo.h>
#include "IOpins.h"
#include "Constants.h"

//-------------------------------------------------------------- define global variables --------------------------------------------

unsigned int Volts;
unsigned int LeftAmps;
unsigned int RightAmps;
unsigned long chargeTimer;
unsigned long leftoverload;
unsigned long rightoverload;
int highVolts;
int startVolts;
int Leftspeed=0;
int Rightspeed=0;
int Speed;
int Steer;
byte Charged=1;                    // 0=Flat battery  1=Charged battery
int Leftmode=1;                    // 0=reverse, 1=brake, 2=forward
int Rightmode=1;                    // 0=reverse, 1=brake, 2=forward
byte Leftmodechange=0;                    // Left input must be 1500 before brake or reverse can occur
byte Rightmodechange=0;                    // Right input must be 1500 before brake or reverse can occur
int LeftPWM;                    // PWM value for left  motor speed / brake
int RightPWM;                    // PWM value for right motor speed / brake
int data;
int servo[7];

//int incomingByte = 0;    // for incoming serial data
//int Motor = A0;
int Motor = 9;  

void setup()
{
   pinMode(Motor, INPUT);

   pinMode (Charger,OUTPUT);                    // change Charger pin to output
   digitalWrite (Charger,1);                    // disable current regulator to charge battery

   if (Cmode==1)  
   {
     Serial.begin(Brate);                    // enable serial communications if Cmode=1
     Serial.flush();                    // flush buffer
   }  
   //Serial.begin(57600);
}

void loop()
{                
         //digitalWrite(Motor, HIGH);
         if (Motor == HIGH) {analogWrite(LmotorA,255);
                    analogWrite(LmotorB,0);}
         if (Motor == LOW) {analogWrite(LmotorA,0);
                    analogWrite(LmotorB,0);}
    
                 // send data only when you receive data:
  if (Serial.available() > 0) {
   // read the incoming byte:
   int incomingByte = Serial.read();

   // say what you got:
   Serial.print("I received: ");
   Serial.println(incomingByte);
   
    
                 if (incomingByte == '1')
                 {
                    analogWrite(LmotorA,255);
                    analogWrite(LmotorB,0);
                 }
        
                 if (incomingByte == '0')
                 {
                    analogWrite(LmotorA,0);
                    analogWrite(LmotorB,0);  
                 }   
          
          
    
                    // left motor forward  
                    /*
           analogWrite(LmotorA,0);
           analogWrite(LmotorB,LeftPWM);
            
                    // left motor brake
           analogWrite(LmotorA,LeftPWM);
           analogWrite(LmotorB,LeftPWM);
            
                    // left motor reverse
           analogWrite(LmotorA,LeftPWM);
           analogWrite(LmotorB,0);
           */
}    
}