#include "pins_arduino.h" // Arduino pre-1.0 needs this

uint8_t readCapacitivePin(int pinToMeasure) {

  // Variables used to translate from Arduino to AVR pin naming

  volatile uint8_t* port;

  volatile uint8_t* ddr;

  volatile uint8_t* pin;

  // Here we translate the input pin number from

  //  Arduino pin number to the AVR PORT, PIN, DDR,

  //  and which bit of those registers we care about.

  byte bitmask;

  port = portOutputRegister(digitalPinToPort(pinToMeasure));

  ddr = portModeRegister(digitalPinToPort(pinToMeasure));

  bitmask = digitalPinToBitMask(pinToMeasure);

  pin = portInputRegister(digitalPinToPort(pinToMeasure));

  // Discharge the pin first by setting it low and output

  *port &= ~(bitmask);

  *ddr  |= bitmask;

  delay(1);

  uint8_t SREG_old = SREG; //back up the AVR Status Register

  // Prevent the timer IRQ from disturbing our measurement

  noInterrupts();

  // Make the pin an input with the internal pull-up on

  *ddr &= ~(bitmask);

  *port |= bitmask;



  // Now see how long the pin to get pulled up. This manual unrolling of the loop

  // decreases the number of hardware cycles between each read of the pin,

  // thus increasing sensitivity.

  uint8_t cycles = 17;

  if (*pin & bitmask) { cycles =  0;}

  else if (*pin & bitmask) { cycles =  1;}

  else if (*pin & bitmask) { cycles =  2;}

  else if (*pin & bitmask) { cycles =  3;}

  else if (*pin & bitmask) { cycles =  4;}

  else if (*pin & bitmask) { cycles =  5;}

  else if (*pin & bitmask) { cycles =  6;}

  else if (*pin & bitmask) { cycles =  7;}

  else if (*pin & bitmask) { cycles =  8;}

  else if (*pin & bitmask) { cycles =  9;}

  else if (*pin & bitmask) { cycles = 10;}

  else if (*pin & bitmask) { cycles = 11;}

  else if (*pin & bitmask) { cycles = 12;}

  else if (*pin & bitmask) { cycles = 13;}

  else if (*pin & bitmask) { cycles = 14;}

  else if (*pin & bitmask) { cycles = 15;}

  else if (*pin & bitmask) { cycles = 16;}



  // End of timing-critical section; turn interrupts back on if they were on before, or leave them off if they were off before

  SREG = SREG_old;



  // Discharge the pin again by setting it low and output

  //  It's important to leave the pins low if you want to 

  //  be able to touch more than 1 sensor at a time - if

  //  the sensor is left pulled high, when you touch

  //  two sensors, your body will transfer the charge between

  //  sensors.

  *port &= ~(bitmask);

  *ddr  |= bitmask;



  return cycles;

}




int limitswitch = PA0;
  int sensorPin = PA3;
   int dc1 = PA3 ;
   int dc2 = PA2 ;
   bool TouchFlag;
   bool LocationPast = false;
   
void setup() {
  // put your setup code here, to run once:
  pinMode(dc1, OUTPUT);  
  pinMode(dc2, OUTPUT); 
  pinMode(sensorPin, INPUT);
  pinMode(limitswitch, INPUT);
}

void loop() {
  // put your main code here, to run repeatedly:
int butt = digitalRead(limitswitch);
int sensorPin = readCapacitivePin( PA7);

if(sensorPin >3 )
{
  TouchFlag = true;
}

if ((TouchFlag))
{
  while(1)
  {
  LocationPast = butt;
  delay(200);
  butt = digitalRead(limitswitch);
  analogWrite (dc1,130);
  digitalWrite (dc2,LOW);
  if(!LocationPast && butt)
    {
      break;
    }
  }
  TouchFlag = false;
}
else
{digitalWrite (dc2,LOW);
  digitalWrite (dc1,LOW);
}

  
}