// defines pins numbers
const int trigPinLeft = 10;
const int echoPinLeft = 17;


const int trigPinMiddle = 6;
const int echoPinMiddle = 7;


const int trigPinRight = 5;
const int echoPinRight = 4;
const int motLeft = 12;
const int bLeft = 9;
const int motRight = 13;
const int bright = 8;
const int speedLeft = 3;
const int speedRight = 11;
String text = " ";


//light senseor
int lightSensorPin = A2;
int analogValue = 0;


// defines variables
long durationLeft;
int distanceLeft;


long durationMiddle;
int distanceMiddle;
long durationRight;
int distanceRight;
int dir = 0;
bool randomgenerate;
void setup() {
//led
//digital 2
  
  pinMode(motLeft, OUTPUT); //Initiates Motor Channel A pin
  pinMode(9, OUTPUT); //Initiates Brake Channel A pin
  //pin 3 is speed for channel A
  
  pinMode(motRight, OUTPUT); //Initiates Motor Channel B pin
  pinMode(8, OUTPUT); //Initiates Brake Channel B pin
  //pin 11 is speed for channel B


  //Analog 0 and 1 are current sensing on shield
  //Digital 3, 8, 9, 11, 12, 13 are special on shield
  //can not use these for anything else
  //Left
  pinMode(trigPinLeft, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPinLeft, INPUT); // Sets the echoPin as an Input
  //Middle
  pinMode(trigPinMiddle, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPinMiddle, INPUT); // Sets the echoPin as an Input
  //Right
  pinMode(trigPinRight, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPinRight, INPUT); // Sets the echoPin as an Input


  
Serial.begin(9600); // Starts the serial communication
}
void loop() {
//Left pin, clears pin, delays, sets pin to high state for 10 us, clears pin, returns val
digitalWrite(trigPinLeft, LOW);
delayMicroseconds(2);
digitalWrite(trigPinLeft, HIGH);
delayMicroseconds(10);
digitalWrite(trigPinLeft, LOW);
durationLeft = pulseIn(echoPinLeft, HIGH);


//Middle pin """
digitalWrite(trigPinMiddle, LOW);
delayMicroseconds(2);
digitalWrite(trigPinMiddle, HIGH);
delayMicroseconds(10);
digitalWrite(trigPinMiddle, LOW);
durationMiddle = pulseIn(echoPinMiddle, HIGH);


//Right pin """
digitalWrite(trigPinRight, LOW);
delayMicroseconds(2);
digitalWrite(trigPinRight, HIGH);
delayMicroseconds(10);
digitalWrite(trigPinRight, LOW);
durationRight = pulseIn(echoPinRight, HIGH);


// Calculating the distance
distanceLeft= durationLeft*0.034/2;
distanceMiddle= durationMiddle*0.034/2;
distanceRight= durationRight*0.034/2;


// Prints the distance on the Serial Monitor


Serial.print("Distance L M R: ");
Serial.println();
Serial.println(distanceLeft);
Serial.println(distanceMiddle);
Serial.println(distanceRight);


analogValue = analogRead(lightSensorPin);
Serial.print("Light sensor: ");
Serial.println(analogValue);
Serial.println(randomgenerate);
Serial.println(dir);
Serial.println();
Serial.println();
//Logic


if ( distanceMiddle>20){
  randomgenerate=0;
}




if (distanceMiddle<=20) {
  if (randomgenerate == 0) {
    dir = random(6);
    randomgenerate = 1;
  }
  if (dir> 2){
    digitalWrite(motLeft, 0); 
    digitalWrite(motRight, 0);
    analogWrite(speedLeft, 255);   
    analogWrite(speedRight, 255);
    Serial.println("LLLLLLLLLLL");
  }
  else {
  digitalWrite(motLeft, 1);
  digitalWrite(motRight, 1);
  analogWrite(speedLeft, 255);   
  analogWrite(speedRight, 255); 
  Serial.println("RRRRRRRRRR");
  }
  
}
else if (distanceLeft<20) {
  digitalWrite(motLeft, 1); 
  digitalWrite(motRight, 0);
  analogWrite(speedRight, 100);
  analogWrite(speedLeft, 255);
  Serial.println("Turning Right");
}
else if (distanceRight<20) {
  digitalWrite(motLeft, 1); //Establishes forward direction of Channel A
  digitalWrite(motRight, 0); //Establishes forward direction of Channel B
  analogWrite(speedLeft, 100);   //Spins the motor on Channel B at full speed
  analogWrite(speedRight, 255); 
  Serial.println("Turning Left");
}
else {
  digitalWrite(motLeft, 1); //Establishes forward direction of Channel A
  digitalWrite(motRight, 0); //Establishes forward direction of Channel B
  analogWrite(speedLeft, 255);   //Spins the motor on Channel A at full speed
  analogWrite(speedRight, 255);   //Spins the motor on Channel B at full speed
  Serial.println("Straight");
}


}