//PROGRAM BY: RANDY N. CAÑADA(NOV.2025)
 
 /*connections: arduino
SPI     MOSI    MISO    CLK     CS    CE
      GPIO 11 GPIO 12 GPIO 13 GPIO 10  9

 */

#include <SPI.h>
#include <RF24.h>

// Motor pins
int enA = A1; int in1 = 3; int in2 = 4;
int enB = A0; int in3 = 5; int in4 = 6;
int maxSpeed = 255;

RF24 radio(9, 10);
const byte address[6] = "00001";

struct Data_Package {
  int8_t motorLeft;
  int8_t motorRight;
};
Data_Package data;

void setup() {
  Serial.begin(115200);
  radio.begin();
  radio.openReadingPipe(1, address);
  radio.setChannel(100);
  radio.setPALevel(RF24_PA_LOW);
  radio.setDataRate(RF24_250KBPS);
  radio.startListening();

  pinMode(enA, OUTPUT); pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT); pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT); pinMode(in4, OUTPUT);

  stopMotors();
}

void loop() {
  if (radio.available()) {
    radio.read(&data, sizeof(Data_Package));

    Serial.print("MotorLeft: "); Serial.print(data.motorLeft);
    Serial.print("  MotorRight: "); Serial.println(data.motorRight);

    driveMotors(data.motorLeft, data.motorRight);
  }
}

void driveMotors(int left, int right) {
  // Left motor direction
  if (left > 0) {
    digitalWrite(in1, LOW); digitalWrite(in2, HIGH);
  } else if (left < 0) {
    digitalWrite(in1, HIGH); digitalWrite(in2, LOW);
  } else {
    digitalWrite(in1, LOW); digitalWrite(in2, LOW);
  }

  // Right motor direction
  if (right > 0) {
    digitalWrite(in3, LOW); digitalWrite(in4, HIGH);
  } else if (right < 0) {
    digitalWrite(in3, HIGH); digitalWrite(in4, LOW);
  } else {
    digitalWrite(in3, LOW); digitalWrite(in4, LOW);
  }

  // Set speeds proportionally
  analogWrite(enA, abs(left) * maxSpeed / 127);
  analogWrite(enB, abs(right) * maxSpeed / 127);
}

void stopMotors() {
  digitalWrite(in1, LOW); digitalWrite(in2, LOW);
  digitalWrite(in3, LOW); digitalWrite(in4, LOW);
  analogWrite(enA, 0); analogWrite(enB, 0);
}