//drinky0211


int wait=0;//wait=1 means delivery has been made
int snack=1;//no snack detected
int astro=1;//no astro request detected



const int pwmA=3;
const int pwmB=11;
const int brakeA=9;
const int brakeB=8;
const int dirA=12;
const int dirB=13;

void setup() {
  pinMode(12,OUTPUT);//Motor channel A
  pinMode(9,OUTPUT);//Brake channel A

  pinMode(13,OUTPUT);//Motor channel B
  pinMode(8,OUTPUT);//Brake channel B

  pinMode(2,INPUT_PULLUP);//snack detector
  pinMode(6,INPUT_PULLUP);//astro request detector

digitalWrite(dirA,HIGH);//raise can stoppers
  digitalWrite(dirB,HIGH);
  analogWrite(pwmA,200);
  analogWrite(pwmB,200);
  

  delay(3000);

  analogWrite(pwmA,0);//stop can stoppers
  analogWrite(pwmB,0);

  
  astro=digitalRead(6);

  if (astro==0) {
    wait=1;
  }

}

void loop() {

  while (wait==0) {

    astro=digitalRead(6);
    if (astro==0) {//snack request initiated)
      delay(2000);

      astro=digitalRead(6);//read again
      if (astro==0) {//time to dispense

        digitalWrite(12,LOW);//lower can release
        digitalWrite(9,LOW);//disengage brake
        analogWrite(3,200);//turn on motor

        delay(3000);

        analogWrite(3,0);//stop motor power
        
        digitalWrite(12,HIGH);//raise can release
        analogWrite(3,200);
        delay(3000);

        analogWrite(3,0);
        delay(500);

        digitalWrite(13,LOW);//lower can divider
        digitalWrite(8,LOW);//disengage brake
        analogWrite(11,200);

        delay(3000);
        digitalWrite(11,0);

        delay(500);

        digitalWrite(13,HIGH);//raise can divider
        analogWrite(11,200);
        delay(3000);

        analogWrite(11,0);

        wait=1;
        

       
        }
      
    }
  }
  astro=digitalRead(6);
  if (astro==1) {//left the charger
    delay(45000);
    astro=digitalRead(6);
    if (astro==1) {//reset and wait
      wait=0;
    }
    
  }
  

}