//Araba
#include <SPI.h> 
#include "RF24.h"
#include "I2Cdev.h"

int led = 4;
int echoPin = 2;
int trigPin = 3;

const int enbA = 3;
const int enbB = 5;

const int IN1 = 2;    //Right Motor (-)
const int IN2 = 4;    //Right Motor (+)
const int IN3 = 7;    //Left Motor (+)
const int IN4 = 6;    //Right Motor (-)

int RightSpd = 130;
int LeftSpd = 150;

int data[2];
int veri, olcum;

RF24 radio(9,10);


const uint64_t pipe = 0xE8E8F0F0E1LL;
const uint64_t pipes = 0xF0F0F0F0D2LL;

void setup(){
  pinMode(enbA, OUTPUT);
  pinMode(enbB, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(led, OUTPUT);
 
  Serial.begin(9600);
  Serial.println(veri);
  delay(50);
  Wire.begin();
  radio.begin();                             
  radio.openReadingPipe(1, pipe);   
  radio.openWritingPipe(pipes);
  radio.startListening();             
  }

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

    if(data[0] > 380){           
      analogWrite(enbA, RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, HIGH);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, HIGH);
      digitalWrite(IN4, LOW);
    }
    
    if(data[0] < 310){           
      analogWrite(enbA, RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, LOW);
      digitalWrite(IN2, HIGH);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4, HIGH);
    }
    
    if(data[1] > 180){
      analogWrite(enbA, RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, HIGH);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4, HIGH);
    }

    if(data[1] < 110){
      analogWrite(enbA, RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, LOW);
      digitalWrite(IN2, HIGH);
      digitalWrite(IN3, HIGH);
      digitalWrite(IN4, LOW);
    }

    if(data[0] > 330 && data[0] < 360 && data[1] > 130 && data[1] < 160){
      analogWrite(enbA, 0);
      analogWrite(enbB, 0);
    }

    if(veri<30)
    {
      digitalWrite(led,LOW);
    }
    else
    {
      digitalWrite(led, HIGH);
    }
    
    
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    olcum = pulseIn(echoPin, HIGH);
    veri = olcum / 58.2;
    delay(50);
    radio.write(veri, sizeof(veri));
  }
}

//Eldiven
#include <SPI.h>       
#include "RF24.h"     
#include "Wire.h"     
#include "I2Cdev.h"   
#include "MPU6050.h"   

int titresim;

MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz;

int data[2];
int veri;

RF24 radio(9,10);

const uint64_t pipe = 0xE8E8F0F0E1LL;
const uint64_t pipes =0xF0F0F0F0D2LL;

void setup(void){
  Serial.begin(9600);
  Serial.println(veri);
  delay(50);
  Wire.begin();
  mpu.initialize();             
  radio.begin();                     
  radio.openWritingPipe(pipe);   
  radio.openReadingPipe(1, pipes);
}

void loop(void){
 
 
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

 
  data[0] = map(ax, -17000, 17000, 300, 400 );
  data[1] = map(ay, -17000, 17000, 100, 200); 
  radio.write(data, sizeof(data));

  if (radio.available()){
    radio.read(veri, sizeof(veri));

      if(veri!=0)
  {
    digitalWrite(titresim, LOW);
    if(veri <50)
    {
      digitalWrite(titresim, HIGH);
    }
    else
    {
      digitalWrite(titresim, LOW);}
    }
    }
}