//I hope this code works good and please give any suggestions:D (im always updating this code for improvements)
//https://www.instructables.com/member/Printerforge/

//!MAKE SURE WHEN WIRING, THAT THE IBUS PIN FROM THE FLYSKY RECIEVER IS UNPLUGED FROM GPIO 0/RX0 AND PLUG IT IN ONCE THE CODE HAS LOADED! 
//!IF YOU DONT YOUR CODE WILL NOT UPLOAD!

#include <IBusBM.h>

IBusBM IBus;     // Create IBus object

// Pin Definitions for L298N Motor Driver
const int motor_IN1 = 2;    // Connected to IN1 of L298N
const int motor_IN2 = 3;    // Connected to IN2 of L298N
const int motor_ENA = 9;    // Connected to ENA of L298N (PWM pin)

// Pin Definitions for Light Switch
const int lightsPin = 5;    // Connected to the light switch pin

// Define constants for CH2 and CH3 sections
const int minCH2 = 1000;
const int midCH2 = 1339;
const int maxCH2 = 2000;

void setup() {
  Serial.begin(115200);
  IBus.begin(Serial); // Initialize IBus with Serial0

  pinMode(motor_IN1, OUTPUT);
  pinMode(motor_IN2, OUTPUT);
  pinMode(motor_ENA, OUTPUT);
  pinMode(lightsPin, OUTPUT); // Set the lights pin as output
}

// Function to drive the motor forward
void driveForward(int speed) {
  digitalWrite(motor_IN1, HIGH);
  digitalWrite(motor_IN2, LOW);
  analogWrite(motor_ENA, speed); // Enable the motor driver with PWM speed
}

// Function to drive the motor backward
void driveBackward(int speed) {
  digitalWrite(motor_IN1, LOW);
  digitalWrite(motor_IN2, HIGH);
  analogWrite(motor_ENA, speed); // Enable the motor driver with PWM speed
}

// Function to stop the motor
void stopMotor() {
  digitalWrite(motor_IN1, LOW);
  digitalWrite(motor_IN2, LOW);
  analogWrite(motor_ENA, 0); // Disable the motor driver (set PWM speed to 0)
}

void loop() {
  // Read channel values
  int CH2 = IBus.readChannel(1); // Assuming CH2 is the "drive stick" for motor control
  int CH3 = IBus.readChannel(2); // Assuming CH3 is the "accelerator stick" for motor speed
  int CH6 = IBus.readChannel(4); // Assuming CH6 is the light switch channel

  // Calculate motor speed based on CH3 values
  int pwm;
  if (CH3 > 1980) {
    pwm = 255; // Set maximum PWM if CH3 value is greater than 1980
  } else {
    pwm = map(CH3, 1004, 1980, 0, 255); // Map CH3 range to PWM range
  }

  // Determine motor direction based on CH2 position
  String motorDirection;
  if (CH2 >= minCH2 && CH2 < 1339) {
    // Move the motor backward
    driveBackward(pwm);
    motorDirection = "Backward";
  } else if (CH2 >= 1339 && CH2 < 1663) {
    // Stop the motor
    stopMotor();
    motorDirection = "Stopped";
  } else if (CH2 >= 1663 && CH2 < maxCH2) {
    // Move the motor forward
    driveForward(pwm);
    motorDirection = "Forward";
  }

  // Control lights based on CH6 value
  if (CH6 < 1500) {
    // If CH6 is low, turn off lights
    digitalWrite(lightsPin, LOW);
  } else {
    // If CH6 is high, turn on lights
    digitalWrite(lightsPin, HIGH);
  }

  // Print motor direction, PWM, and light switch state to serial monitor
  Serial.print("CH3: ");
  Serial.print(CH3);
  Serial.print(", PWM: ");
  Serial.print(pwm);
  Serial.print(", CH2: ");
  Serial.print(CH2);
  Serial.print(", Light Switch: ");
  Serial.print(CH6);
  Serial.print(", Motor Direction: ");
  Serial.println(motorDirection);

  delay(100); // Adjust delay as needed to prevent serial output overflow
}