// Motor A connections
int enA = 9;
int in1 = 8;
int in2 = 7;
// Motor B connections
int enB = 3;
int in3 = 5;
int in4 = 4;
//button variables
const int buttonPin = 2;    // the number of the pushbutton pin
const int ledPin = 13;      // the number of the LED pin
// Variables will change:
int ledState = HIGH;         // the current state of the output pin
int buttonState;             // the current reading from the input pin
int lastButtonState = LOW;   // the previous reading from the input pin

// the following variables are unsigned longs because the time, measured in
// milliseconds, will quickly become a bigger number than can be stored in an int.
unsigned long lastDebounceTime = 0;  // the last time the output pin was toggled
unsigned long debounceDelay = 50;    // the deb

//gps variables

#include <TinyGPS++.h>
#include <SoftwareSerial.h>

static const int RXPin = 4, TXPin = 3; // recieve/transfer to pin 3 & 4
static const uint32_t GPSBaud = 9600;

//TinyGPS++ object
TinyGPSPlus gps;

// The serial connection to the GPS device
SoftwareSerial ss(RXPin, TXPin);

long latitude();
long longitude();

// stepper motor variables
#define dirPin 2
#define stepPin 3
void setup() {
  Serial.begin(9600);
  ss.begin(GPSBaud);
  // Set all the motor control pins to outputs
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);

  // Turn off motors - Initial state
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);

  pinMode(buttonPin, INPUT);
  pinMode(ledPin, OUTPUT);
  // set initial LED state
  digitalWrite(ledPin, ledState);
  // Declare pins as output:
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  // Set the spinning direction CW/CCW:
  digitalWrite(dirPin, HIGH);
}

void loop() {

  // read the state of the switch into a local variable:
  int reading = digitalRead(buttonPin);

  // check to see if you just pressed the button
  // (i.e. the input went from LOW to HIGH), and you've waited long enough
  // since the last press to ignore any noise:

  // If the switch changed, due to noise or pressing:
  if (reading != lastButtonState) {
    // reset the debouncing timer
    lastDebounceTime = millis();
  }

  if ((millis() - lastDebounceTime) > debounceDelay) {
    // whatever the reading is at, it's been there for longer than the debounce
    // delay, so take it as the actual current state:

    // if the button state has changed:
    if (reading != buttonState) {
      buttonState = reading;

      // only toggle the LED if the new button state is HIGH
      if (buttonState == HIGH) {
        Serial.println("will now wait 3 seconds");
        delay(3000);
        Serial.println("going to gps module");
        gpsInfo();
        delay(3000);
        Serial.println("will now drive the motors");
        driveControl();
        delay(3000);
        Serial.println("will now raise and lower the pH probe and the drill");
        stepperControl();
        ledState = !ledState;
      }
    }
  }
  // set the LED:
  digitalWrite(ledPin, ledState);

  // save the reading. Next time through the loop, it'll be the lastButtonState:
  lastButtonState = reading;
}

// This function lets you control spinning direction of motors
void driveControl() {
  // Set motors to maximum speed
  // For PWM maximum possible values are 0 to 255
  analogWrite(enA, 255);
  analogWrite(enB, 255);

  // Turn on motor A & B
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  delay(5000);

  // Turn off motors
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}
void serialshit() {
  Serial.begin(9600);
  Serial.println("yooo");

}
void gpsInfo() {
  while (ss.available() > 0) {
    gps.encode(ss.read());
    if (gps.location.isUpdated()) {
      Serial.print("Latitude= ");
      Serial.print(gps.location.lat(), 6);
      Serial.print(" Longitude= ");
      Serial.println(gps.location.lng(), 6);
    }
  }
}
void stepperControl(){
   // These four lines result in 1 step:
  digitalWrite(stepPin, HIGH);
  delayMicroseconds(500);
  digitalWrite(stepPin, LOW);
  delayMicroseconds(500);
}