//instantiates pins & speed(s)

const int yright = 16;
const int yleft = 17;

const int button = 18;

int message;
int stop = 75;
int speedRight = stop; 
int speedLeft = stop;

//Setting up pins to be output & setting analog joystick value to neutral
//Starting serial for script communication
void setup() {
  Serial.begin(115200);
  Serial.setTimeout(1);
  pinMode(yright, OUTPUT);
  pinMode(yleft, OUTPUT);
  pinMode(button, OUTPUT);
  analogWrite(yright, 90);
  analogWrite(yleft, 90);
  digitalWrite(button, LOW);
}

void loop() {

//when communication is not actively occurring, use last defined speed value
  while(!Serial.available()){
    analogWrite(yright, speedRight);
    analogWrite(yleft, speedLeft);
  }

  message = Serial.readString().toInt();

//case statements with edge cases
//if the "message" value is within the defined voltage range, it will be mapped accordingly
//if the "message" value outputs 300, stops robot and performs action
if(message != 0){
  
  if(message > 0 && message < 200){
    speedRight = stop + message;
    speedLeft = stop - message;
  }else if(message < 0){
    speedRight = stop + message;
    speedLeft = stop - message;
  }else if (message = 200){
    speedRight = 125;
    speedLeft = speedRight;
  }else if (message = 300){
    speedRight = stop;
    speedLeft = stop;
    digitalWrite(button, HIGH);
    delay(250);
    digitalWrite(button, LOW);
    delay(250);
    digitalWrite(button, HIGH);
    delay(250);
    digitalWrite(button, LOW);
  }
  
//message will print to terminal of external ide
  Serial.println(message);
  Serial.println(speedRight);
  Serial.println(speedLeft);
}

}