#include <Wire.h>               //including the libraries
#include <ArduinoNunchuk.h>

#define BAUDRATE 19200    //define the transimission rate

int motorPin1 = 3;         //declare the variables
int motorPin2 = 4;
int motorPin3 = 5;
int motorPin4 = 6;
int delayTime;
int led = 11;
ArduinoNunchuk nunchuk = ArduinoNunchuk();


void setup() {
  
  pinMode(led, OUTPUT);              //set the led
  Serial.begin(BAUDRATE);            //initialize the serial transmission
  nunchuk.init();                    //initialize the nunchuck
  pinMode(motorPin1, OUTPUT);        //initialize the 4 motor pins
  pinMode(motorPin2, OUTPUT);
  pinMode(motorPin3, OUTPUT);
  pinMode(motorPin4, OUTPUT);
}

void loop() {
  
  nunchuk.update();                            //get data from the nunchuck         
  Serial.print(nunchuk.analogX, DEC);          //print them on the serial interface in decimal
  Serial.print(' ');
  Serial.print(nunchuk.analogY, DEC);
  Serial.print(' ');
  Serial.print(nunchuk.accelX, DEC);
  Serial.print(' ');
  Serial.print(nunchuk.accelY, DEC);
  Serial.print(' ');
  Serial.print(nunchuk.accelZ, DEC);
  Serial.print(' ');
  Serial.print(nunchuk.zButton, DEC);
  Serial.print(' ');
  Serial.println(nunchuk.cButton, DEC);
  
  byte brighteness = 6^abs(nunchuk.analogX - 124);  //adjust the led brightness proportionally to the value of nunchuk.analogX
  analogWrite(led, brighteness);
 
  if(nunchuk.analogX == 124){          //set the motor pins to 0 if joystick is in rest position
  digitalWrite(motorPin4, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin1, LOW);
  }
 
  if(nunchuk.analogX > 124){             //if the joystick moves upward 
    if(nunchuk.analogX < 134){           //Create the ranges to set the delay Time (and consequently the velocity) based on the value of nunchuk.analogX
      delayTime = 100;
    }
    if(nunchuk.analogX > 134 && nunchuk.analogX < 144){
      delayTime = 90;
    }
    if(nunchuk.analogX > 144 && nunchuk.analogX < 154){
      delayTime = 80;
    }
    if(nunchuk.analogX > 154 && nunchuk.analogX < 164){
      delayTime = 70;
    }
    if(nunchuk.analogX > 164 && nunchuk.analogX < 174){
      delayTime = 60;
    }
    if(nunchuk.analogX > 174 && nunchuk.analogX < 184){
      delayTime = 50;
    }
    if(nunchuk.analogX > 184 && nunchuk.analogX < 194){
      delayTime = 40;
    }
    if(nunchuk.analogX > 194 && nunchuk.analogX < 204){
      delayTime = 30;
    }
    if(nunchuk.analogX > 204 && nunchuk.analogX < 214){
      delayTime = 20;
    }
    if(nunchuk.analogX > 214 && nunchuk.analogX < 224){
      delayTime = 10;
    }
    if(nunchuk.analogX > 224 && nunchuk.analogX < 234){
      delayTime = 7;
    }
    if(nunchuk.analogX > 234 && nunchuk.analogX < 244){
      delayTime = 5;
    }
    if(nunchuk.analogX > 244){
      delayTime = 3;
    }
  digitalWrite(motorPin4, HIGH);               //let the motor move clockwise with velocity based on the dealyTime determined before
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin1, LOW);
  delay(delayTime);
  digitalWrite(motorPin4, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motorPin1, LOW);
  delay(delayTime);
  digitalWrite(motorPin4, LOW);
  digitalWrite(motorPin3, HIGH);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin1, LOW);
  delay(delayTime);
  digitalWrite(motorPin4, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin1, HIGH);
  delay(delayTime);}

  if(nunchuk.analogX < 124){               //if the joystick moves downward
    if(nunchuk.analogX > 114 && nunchuk.analogX < 124){      //set the delay Time (and consequently the velocity) based on the value of nunchuk.analogX
      delayTime = 100;
    }
    if(nunchuk.analogX < 114 && nunchuk.analogX > 104){
      delayTime = 90;
    }
    if(nunchuk.analogX > 94 && nunchuk.analogX < 104){
      delayTime = 80;
    }
    if(nunchuk.analogX > 84 && nunchuk.analogX < 94){
      delayTime = 70;
    }
    if(nunchuk.analogX > 74 && nunchuk.analogX < 84){
      delayTime = 60;
    }
    if(nunchuk.analogX > 64 && nunchuk.analogX < 74){
      delayTime = 50;
    }
    if(nunchuk.analogX < 64 && nunchuk.analogX > 54){
      delayTime = 40;
    }
    if(nunchuk.analogX > 44 && nunchuk.analogX < 54){
      delayTime = 30;
    }
    if(nunchuk.analogX > 34 && nunchuk.analogX < 44){
      delayTime = 20;
    }
    if(nunchuk.analogX > 24 && nunchuk.analogX < 34){
      delayTime = 10;
    }
    if(nunchuk.analogX > 14 && nunchuk.analogX < 24){
      delayTime = 7;
    }
    if(nunchuk.analogX > 4 && nunchuk.analogX < 14){
      delayTime = 5;
    }
    if(nunchuk.analogX >= 0 && nunchuk.analogX < 4){
      delayTime = 3;
    }
  
  digitalWrite(motorPin4, LOW);                 //move the motor counterclockwise with the velocity depending on the delayTime determined before
  digitalWrite(motorPin3, HIGH);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin1, LOW);
  delay(delayTime);
  digitalWrite(motorPin4, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motorPin1, LOW);
  delay(delayTime);
  digitalWrite(motorPin4, HIGH);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin1, LOW);
  delay(delayTime);
  digitalWrite(motorPin4, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin1, HIGH);
  delay(delayTime);
  }
}