;; ALFI (Animatronic Lego Face for Interaction) Basic functions
;; Version 3.0

;; To Do:
;; Fix eye speeds
;; Figure out light sensors
;; Make basic system

menu 1 [run]
menu 2 [asleep]
menu 3 [alert]
menu 4 [bored]
menu 5 [eye]
menu 6 [lids]


;;;;;;;;;;;;;;;;;;;;;;
;; Global Variables ;;
;;;;;;;;;;;;;;;;;;;;;;

global [ear-position mouth-position eye-position lids-position state rightLevel leftLevel]
;; ear-position: 1=up, 0=down
;; mouth-position: 1=open, 0=closed
;; eye-position: 2=left, 1=right, 0=center
;; lids-position: 2=up, 1=down, 0=center
;; state: 2=bored, 1=alert, 0=asleep


;;;;;;;;;;;;;;;;;;;;;;
;; Action Functions ;;
;;;;;;;;;;;;;;;;;;;;;;

;; awake: 2=bored, 1=alert, 0=asleep

to setup
	;; starts off asleep
	setstate 0

	seteye-position 0  ;; center
	setlids-position 1  ;; down
	setmouth-position 0  ;; closed
	setear-position 0  ;; down

	eye-motor setpower 1
	ear-motor setpower 1
	mouth-motor setpower 1
	lids-motor setpower 1
end

to asleep
	;; transitions to "alert" only
	;; comes from "bored" only

	if (state = 2) [
	;; was bored
	ear-down
	wait 2
	lids-down
	setstate 0
	]
end

to alert
	;; transitions to "bored" only
	;; comes from "asleep" or "bored"

	if (state = 0) [
	;; was asleep
	ear-up
	mouth-open
	lids-up
	eyes-rove 2
	setstate 1
	]

	if (state = 2) [
	;; was bored
	lids-up
	eyes-rove 2
	setstate 1
	]
end

to bored
	;; transitions to either "asleep" or "alert"
	;; comes from "alert" only

	if (state = 1) [
	;; was alert
	lids-center
	eye-center
	mouth-close
	wait 50
	yawn 2
	setstate 2
	]
end

to run
	setup

;;	asleep
;;	wait 20
;;	alert
;;	bored
;;	asleep

	setrightLevel right-light-sense
	setleftLevel left-light-sense
	loop [
		
	]

end


;;;;;;;;;;;;;;;;;;;
;; Ear Functions ;;
;;;;;;;;;;;;;;;;;;;

;; ear-position: 1=up, 0=down

to ear
	ear-motor setpower 1

	ear-up
	ear-down
	wait 10
	ear-up
end

to ear-up
	if (not(ear-position = 1)) [
		ear-motor thisway on
		waituntil[ear-up-sense]
		ear-motor off
		setear-position 1]
end

to ear-down
	if (not(ear-position = 0)) [
		ear-motor thatway on
		waituntil[ear-down-sense]
		ear-motor off
		setear-position 0]
end


;;;;;;;;;;;;;;;;;;;;;
;; Mouth Functions ;;
;;;;;;;;;;;;;;;;;;;;;

;; mouth-position: 1=open, 0=closed

to mouth
	mouth-motor setpower 1

	mouth-close
	mouth-open
	wait 10
	mouth-close
end

to yawn :count
	repeat :count [
		mouth-open
		wait 10
		mouth-close
		wait 50
	]
end

to mouth-open
	if (not(mouth-position = 1)) [
		mouth-motor thatway on
		waituntil[mouth-open-sense]
		mouth-motor off
		setmouth-position 1]
end

to mouth-close
	if (not(mouth-position = 0)) [
		mouth-motor thisway on
		waituntil[mouth-close-sense]
		mouth-motor off
		setmouth-position 0]
end


;;;;;;;;;;;;;;;;;;;
;; Eye Functions ;;
;;;;;;;;;;;;;;;;;;;

;; eye-position: 2=left, 1=right, 0=center
;; thisway = left, thatway = right

to eye

	eye-motor setpower 1
	seteye-position 0

	eye-center
	wait 10
	eye-left
	wait 10
	eye-center
	eye-right
	wait 10
	eye-center
end

to eyes-rove :count
	repeat :count [
		eye-center
		eye-left
		wait 10
		eye-right
		wait 10
		eye-center
	]


end

to eye-left
	if (eye-position = 0) [
	;; center to left
	break-beam-eye-this 25]

	if (eye-position = 1) [
	;; right to left
	break-beam-eye-this 50]

	seteye-position 2
end

to eye-right
	if (eye-position = 0) [
	;; center to right
	break-beam-eye-that 25]

	if (eye-position = 2) [
	;; left to right
	break-beam-eye-that 50]

	seteye-position 1
end

to eye-center
	if (eye-position = 2) [
	;; left to center
	break-beam-eye-that 25]

	if (eye-position = 1) [
	;; right to center
	break-beam-eye-this 25]

	seteye-position 0
end


;;;;;;;;;;;;;;;;;;;;
;; lids Functions ;;
;;;;;;;;;;;;;;;;;;;;

;; lids-position: 2=up, 1=down, 0=center

to lids
	lids-motor setpower 1
	setlids-position 0

	lids-center
	wait 10
	lids-up
	wait 10
	lids-center
	wait 10
	lids-down
	wait 10
	lids-center
end

to lids-up
	if (lids-position = 0) [
	break-beam-lids-up 12
	setlids-position 2]

	if (lids-position = 1) [
	break-beam-lids-up 20
	setlids-position 2]

	
end

to lids-down
	if (lids-position = 0) [
	break-beam-lids-down 12
	setlids-position 1]

	if (lids-position = 2) [
	break-beam-lids-down 20
	setlids-position 1]

	
end

to lids-center
	if (lids-position = 2) [
	break-beam-lids-down 20
	setlids-position 0]

	if (lids-position = 1) [
	break-beam-lids-up 20
	setlids-position 0]

	
end


;;;;;;;;;;;;;;;;;;;;;;
;; Helper Functions ;;
;;;;;;;;;;;;;;;;;;;;;;

to break-beam-eye-this :count
	eye-motor thisway on
	repeat :count [
		waituntil[(eye-sense) > 50]
		waituntil[(eye-sense) < 50]
	]
	eye-motor off
end

to break-beam-eye-that :count
	eye-motor thatway on
	repeat :count [
		waituntil[(eye-sense) > 50]
		waituntil[(eye-sense) < 50]
	]
	eye-motor off
end

to break-beam-lids-down :count
	lids-motor thisway on
	repeat :count [
		waituntil[(lids-sense) > 50]
		waituntil[(lids-sense) < 50]
	]
	lids-motor off
end

to break-beam-lids-up :count
	lids-motor thatway on
	repeat :count [
		waituntil[(lids-sense) > 50]
		waituntil[(lids-sense) < 50]
	]
	lids-motor off
end


;;;;;;;;;;;;;;;;;;
;; Sensor Names ;;
;;;;;;;;;;;;;;;;;;

to ear-up-sense
	output switch 7
end

to ear-down-sense
	output switch 8
end

to mouth-close-sense
	output switch 9
end

to mouth-open-sense
	output switch 10
end

to eye-emit
	output switch 14
end

to eye-sense
	output sensor 0
end

to lids-emit
	output switch 15
end

to lids-sense
	output sensor 1
end

to LL-sense
	;; red block
	output sensor 6
end

to RL-sense
	;; yellow block
	output sensor 5
end


;;;;;;;;;;;;;;;;;
;; Motor Names ;;
;;;;;;;;;;;;;;;;;

to ear-motor
	a,
end

to mouth-motor
	b,
end

to eye-motor
	c,
end

to lids-motor
	d,
end