#include "SPI.h"
#include "MFRC522.h"
#include "pitches.h"



#define SS_PIN 10
#define RST_PIN 9
int M2S=3;
int M2D=7;
int M1S = 5;
int M1D = 6;
int x=0;
int y=0;
int z=0;
int n=0;
int f=0;


MFRC522 rfid(SS_PIN, RST_PIN);

MFRC522::MIFARE_Key key;

void setup() {
    Serial.begin(9600);
    SPI.begin();
    rfid.PCD_Init();
    pinMode(M1S, OUTPUT);
    pinMode(M1D, OUTPUT);
    pinMode(M2S, OUTPUT);
    pinMode(M2D, OUTPUT);
    pinMode(8,OUTPUT);

}

void loop() {
  if (!rfid.PICC_IsNewCardPresent() || !rfid.PICC_ReadCardSerial())
    return;

  // Serial.print(F("PICC type: "));
  MFRC522::PICC_Type piccType = rfid.PICC_GetType(rfid.uid.sak);
  // Serial.println(rfid.PICC_GetTypeName(piccType));

  // Check is the PICC of Classic MIFARE type
  if (piccType != MFRC522::PICC_TYPE_MIFARE_MINI &&
    piccType != MFRC522::PICC_TYPE_MIFARE_1K &&
    piccType != MFRC522::PICC_TYPE_MIFARE_4K) {
    Serial.println(F("Your tag is not of type MIFARE Classic."));
    return;
  }

  String strID = "";
  for (byte i = 0; i < 4; i++) {
    strID +=
    (rfid.uid.uidByte[i] < 0x10 ? "0" : "") +
    String(rfid.uid.uidByte[i], HEX) +
    (i!=3 ? ":" : "");
  }
  strID.toUpperCase();

  Serial.print("Tap card key: ");
  Serial.println(strID);


  if (strID.indexOf("29:2D:A1:B2") >= 0 && n==0 && y==0 && z==0) {
     digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(800);
     // Moving forward
      digitalWrite(M1D,LOW);
  analogWrite(M1S,255);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,255);
  x=1;
  } else if(strID.indexOf("29:2D:A1:B2") >= 0 && n==1) {
//True
  int melody[] = {
  NOTE_D7 , NOTE_B6 , NOTE_D7,  NOTE_G7
};

int noteDurations[] = {
  4, 8, 4, 4
};
  // iterate over the notes of the melody:
  for (int thisNote = 0; thisNote < 4; thisNote++) {

    // to calculate the note duration, take one second divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/4, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(4);
  }
   


    y=0;
    z=0;
    n=0;
    f=0;
   
  }

  else if(strID.indexOf("29:2D:A1:B2") >= 0 && n==0 && f==1){
     // False

  int melody[] = {
  NOTE_A2 , NOTE_B1 , NOTE_A2
};
int noteDurations[] = {
  4, 4, 4
};
  for (int thisNote = 0; thisNote < 3; thisNote++) {

    // to calculate the note duration, take one second divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/3, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(3);
  }
  }

 
   if (strID.indexOf("00:7D:8D:7C") >= 0 && y==0 && z==0 && n==0) {
     digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(800);
    if(x==1){
      // Moving forward
      digitalWrite(M1D,LOW);
  analogWrite(M1S,255);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,255);
    }
   
    else if(x==2){
       // Moving left
      digitalWrite(M1D,HIGH);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);
     delay(800);
   


  digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(800);

        // Moving forward
      digitalWrite(M1D,LOW);
  analogWrite(M1S,255);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,255);
    }

    else if(x==3){
      // Moving right
      digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,HIGH);
  analogWrite(M2S,0);
     delay(800);
     


       // STOP
  digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(800);

      // Moving forward
      digitalWrite(M1D,LOW);
  analogWrite(M1S,255);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,255);
    }

    else if(x==4){
     // STOP
  digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);
    }
  } else if (strID.indexOf("00:7D:8D:7C") >= 0 && f==1) {
     // False

  int melody[] = {
  NOTE_A2 , NOTE_B1 , NOTE_A2
};
int noteDurations[] = {
  4, 4, 4
};
  for (int thisNote = 0; thisNote < 3; thisNote++) {

    // to calculate the note duration, take one second divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/3, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(3);
  }
    
  }
     if (strID.indexOf("93:47:B4:2E") >= 0 && z==0 && y==0 && n==0) {
       digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(800);
           // Moving left
      digitalWrite(M1D,HIGH);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);
     delay(800);
     x=2;


  digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(800);

        // Moving forward
      digitalWrite(M1D,LOW);
  analogWrite(M1S,255);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,255);
     //delay(7000);

  } else if(strID.indexOf("93:47:B4:2E") >= 0 && z==1) {
//True
  int melody[] = {
  NOTE_D7 , NOTE_B6 , NOTE_D7,  NOTE_G7
};

int noteDurations[] = {
  4, 8, 4, 4
};
  // iterate over the notes of the melody:
  for (int thisNote = 0; thisNote < 4; thisNote++) {

    // to calculate the note duration, take one second divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/4, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(4);
  }  
    n=1;
    z=0;
  
  }

  else if(strID.indexOf("93:47:B4:2E") >= 0 && z==0 && f==1){
    // False

  int melody[] = {
  NOTE_A2 , NOTE_B1 , NOTE_A2
};
int noteDurations[] = {
  4, 4, 4
};
  for (int thisNote = 0; thisNote < 3; thisNote++) {

    // to calculate the note duration, take one second divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/3, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(3);
  }
   
  }

 
   if (strID.indexOf("F2:79:B5:2E") >= 0 && y==0 && z==0 && n==0) {
     digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(800);
            // Moving right
      digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,HIGH);
  analogWrite(M2S,0);
     delay(800);
     x=3;


       // STOP
  digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(800);

      // Moving forward
      digitalWrite(M1D,LOW);
  analogWrite(M1S,255);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,255);
     //delay(7000);
  } else if(strID.indexOf("F2:79:B5:2E") >= 0 && y==1) {
//True
  int melody[] = {
  NOTE_D7 , NOTE_B6 , NOTE_D7,  NOTE_G7
};

int noteDurations[] = {
  4, 8, 4, 4
};
  // iterate over the notes of the melody:
  for (int thisNote = 0; thisNote < 4; thisNote++) {

    // to calculate the note duration, take one second divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/4, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(4);
  }
    z=1;
    y=0;
   
  }

  else if(strID.indexOf("F2:79:B5:2E") >= 0 && y==0 && f==1){
    // False

  int melody[] = {
  NOTE_A2 , NOTE_B1 , NOTE_A2
};
int noteDurations[] = {
  4, 4, 4
};
  for (int thisNote = 0; thisNote < 3; thisNote++) {

    // to calculate the note duration, take one second divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/3, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(3);
  }
  }
   if (strID.indexOf("F2:85:EE:2E") >= 0 && y==0 && z==0 && n==0) {
        // STOP
  digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);
  x=4;
 
  } else if (strID.indexOf("F2:85:EE:2E") >= 0 && f==1) {
 // False

  int melody[] = {
  NOTE_A2 , NOTE_B1 , NOTE_A2
};
int noteDurations[] = {
  4, 4, 4
};
  for (int thisNote = 0; thisNote < 3; thisNote++) {

    // to calculate the note duration, take one second divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/3, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(3);
  }
  
  }

  if (strID.indexOf("E2:F6:07:2E") >= 0 && y==0 && z==0 && n==0) {
    y=1;
    f=1;
    unsigned char l,j;//define variable

for(int k=0;k<3;k++)

{ for(l=0;l<80;l++)// output a frequency sound

{ digitalWrite(8,HIGH);// sound

delay(1);//delay1ms

digitalWrite(8,LOW);//not sound

 

delay(1);//ms delay

}

 

for(l=0;l<100;l++)// output a frequency sound

{

digitalWrite(8,HIGH);// sound

digitalWrite(8,LOW);//not sound

delay(2);//2ms delay

}

}

        delay(300);
    // Moving right
      digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,HIGH);
  analogWrite(M2S,0);
     delay(800);
     


       // STOP
  digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(3000);

     // Moving left
      digitalWrite(M1D,HIGH);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);
     delay(800);
     


  digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(3000);

    // Moving forward
      digitalWrite(M1D,LOW);
  analogWrite(M1S,255);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,255);

      delay(2000);

      digitalWrite(M1D,LOW);
  analogWrite(M1S,0);
    digitalWrite(M2D,LOW);
  analogWrite(M2S,0);

    delay(300);}

    else if(strID.indexOf("E2:F6:07:2E") >= 0 && f==1){
      // False

  int melody[] = {
  NOTE_A2 , NOTE_B1 , NOTE_A2
};
int noteDurations[] = {
  4, 4, 4
};
  for (int thisNote = 0; thisNote < 3; thisNote++) {

    // to calculate the note duration, take one second divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/3, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(3);
  }
    }

  rfid.PICC_HaltA();
  rfid.PCD_StopCrypto1();
}