/*
 *  texte.
 */
#include <Wire.h>
#include <SparkFun_APDS9960.h>


int Pin1 = 10; // pin de contrôle moteur 1
int Pin2 = 11; // broche de contrôle du moteur 2
int Pin3 = 12; // broche de contrôle moteur 3
int Pin4 = 13; // broche de contrôle moteur 4
int _step = 0;
boolean dir = false; // faux=sens horaire, vrai=sens antihoraire
int count=0;
int action; // stop=1, CCW=2, CW=3

 // Épingles
#define APDS9960_INT    2 // Doit être une broche d'interruption.
 // Variables globales
SparkFun_APDS9960 apds = SparkFun_APDS9960();
int isr_flag = 0;

void setup()
{
 // configuration du moteur pas à pas
 pinMode(Pin1, OUTPUT);
 pinMode(Pin1, OUTPUT);
 pinMode(Pin2, OUTPUT);
 pinMode(Pin4, OUTPUT);
 // / ************* configuration du moteur pas à pas fin
 // Configurer la broche d'interruption en entrée
  pinMode(APDS9960_INT, INPUT);


 // Initialiser le port série
  Serial.begin(9600);
  Serial.println();
  Serial.println(F("--------------------------------"));
  Serial.println(F("SparkFun APDS-9960 - GestureTest"));
  Serial.println(F("--------------------------------"));

 // Initialiser la routine de service d'interruption
  attachInterrupt(0, interruptRoutine, FALLING);

 // Initialiser APDS-9960 (configurer I2C et valeurs initiales)
  if ( apds.init() ) {
    Serial.println(F("APDS-9960 initialization complete"));
  } else {
    Serial.println(F("Something went wrong during APDS-9960 init!"));
  }

 // Démarrez le moteur du capteur de gestes APDS-9960
  if ( apds.enableGestureSensor(true) ) {
    Serial.println(F("Gesture sensor is now running"));
  } else {
    Serial.println(F("Something went wrong during gesture sensor init!"));
  }
}
 void loop()
{

  if( isr_flag == 1 ) {
 // detachInterrupt(0);
   action = handleGesture();
    isr_flag = 0;
 // attachInterrupt(0, routineInterruption, TOMBE);
  }

  if(action ==1){
    _step =9; // arrêter le moteur
  }else if(action ==2){
 // _step =0;
    dir = true; // Direction de rotation dans le sens antihoraire
  }else if(action ==3){
 // _step =0;//Direction de rotation horaire
    dir = false;
  }

 switch(_step){
   case 0:
     digitalWrite(Pin1, LOW);
     digitalWrite(Pin2, LOW);
     digitalWrite(Pin3, LOW);
     digitalWrite(Pin4, HIGH);
   break;
   case 1:
     digitalWrite(Pin1, LOW);
     digitalWrite(Pin2, LOW);
     digitalWrite(Pin3, HIGH);
     digitalWrite(Pin4, HIGH);
   break;
   case 2:
     digitalWrite(Pin1, LOW);
     digitalWrite(Pin2, LOW);
     digitalWrite(Pin3, HIGH);
     digitalWrite(Pin4, LOW);
   break;
   case 3:
     digitalWrite(Pin1, LOW);
     digitalWrite(Pin2, HIGH);
     digitalWrite(Pin3, HIGH);
     digitalWrite(Pin4, LOW);
   break;
   case 4:
     digitalWrite(Pin1, LOW);
     digitalWrite(Pin2, HIGH);
     digitalWrite(Pin3, LOW);
     digitalWrite(Pin4, LOW);
   break;
   case 5:
     digitalWrite(Pin1, HIGH);
     digitalWrite(Pin2, HIGH);
     digitalWrite(Pin3, LOW);
     digitalWrite(Pin4, LOW);
   break;
     case 6:
     digitalWrite(Pin1, HIGH);
     digitalWrite(Pin2, LOW);
     digitalWrite(Pin3, LOW);
     digitalWrite(Pin4, LOW);
   break;
   case 7:
     digitalWrite(Pin1, HIGH);
     digitalWrite(Pin2, LOW);
     digitalWrite(Pin3, LOW);
     digitalWrite(Pin4, HIGH);
   break;
   default:
     digitalWrite(Pin1, LOW);
     digitalWrite(Pin2, LOW);
     digitalWrite(Pin3, LOW);
     digitalWrite(Pin4, LOW);
   break;
 }
 if(dir){
   _step++;
 }else{
   _step--;
 }
 if(_step>7){
   _step=0;
 }
 if(_step<0){
   _step=7;
 }
 delay(1);

} // boucle

void interruptRoutine() {
  isr_flag = 1;
}


int handleGesture() {
    if ( apds.isGestureAvailable() ) {
    switch ( apds.readGesture() ) {

      case DIR_DOWN:
        Serial.println("DOWN--Stop");
        return 1;
        break;
      case DIR_LEFT:
        Serial.println("LEFT-- Counterclockwise");
        return 2;
        break;
      case DIR_RIGHT:
        Serial.println("RIGHT--Clockwise");
        return 3;
        break;

      default:
      return 1; // éteindre
        Serial.println("NONE Stopped");
    }
  }
}