/*
 * //原始来源：http://www.geeetech.com/wiki/index.php/Stepper_Motor_5V_4-Phase_5-Wire_%26_ULN2003_Driver_Board_for_Arduino
 * //APDS-9960 RGB和手势传感器
 * //Shawn Hymel @ SparkFun电子
 * //2014年5月30日
 * //https://github.com/sparkfun/APDS-9960_RGB_and_Gesture_Sensor
 * // 此代码与RoboJax.com的视频教程一起使用
 * // 于2017年5月11日在加拿大安大略省Aajx发布.
 * /*
 * 必须观看这两个视频
 * 1-步进电机
 * https://www.youtube.com/watch?v=Sl2mzXfTwCs
 * 
 * 2-手势传感器
 * https://www.youtube.com/watch?v=qzSgZV_fbxI
 * 
 * 从以下地址下载代码：
 * http://roboJax.com/learn/arduino
 */
#include <Wire.h>
#include <SparkFun_APDS9960.h>


int Pin1 = 10; // 电机控制引脚 1
int Pin2 = 11; // 电机控制引脚 2
int Pin3 = 12; // 电动机控制引脚 3
int Pin4 = 13; // 电机控制引脚 4
int _step = 0;
boolean dir = false; // 假=顺时针，真=逆时针
int count=0;
int action; // 停止=1, 反时针=2, 顺时针=3

 // 别针
#define APDS9960_INT    2 // 需要是一个中断引脚
 // 全局变量
SparkFun_APDS9960 apds = SparkFun_APDS9960();
int isr_flag = 0;

void setup()
{
 // 步进电机设置
 pinMode(Pin1, OUTPUT);
 pinMode(Pin1, OUTPUT);
 pinMode(Pin2, OUTPUT);
 pinMode(Pin4, OUTPUT);
 // / ************* 步进电机设置结束
 // 将中断引脚设置为输入
  pinMode(APDS9960_INT, INPUT);


 // 初始化串口
  Serial.begin(9600);
  Serial.println();
  Serial.println(F("--------------------------------"));
  Serial.println(F("SparkFun APDS-9960 - GestureTest"));
  Serial.println(F("--------------------------------"));

 // 初始化中断服务程序
  attachInterrupt(0, interruptRoutine, FALLING);

 // 初始化 APDS-9960（配置 I2C 和初始值）
  if ( apds.init() ) {
    Serial.println(F("APDS-9960 initialization complete"));
  } else {
    Serial.println(F("Something went wrong during APDS-9960 init!"));
  }

 // 开始运行APDS-9960手势传感器引擎
  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, interruptRoutine, FALLING);
  }

  if(action ==1){
    _step =9; // 停止马达
  }else if(action ==2){
 // _step =0;
    dir = true; // 逆时针旋转方向
  }else if(action ==3){
 // _step =0;//顺时针旋转方向
    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);

} // 循环

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; // 关掉
        Serial.println("NONE Stopped");
    }
  }
}