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#include <BlynkSimpleSerialBLE.h>
#define BLYNK_USE_DIRECT_CONNECT

char auth[] = "Blynk Auth";
int d[2] = {0}; 
int car[2][2] = { {5, 6}, {11, 10} }; //in 1,2,4,3
int en[2] = {3, 9};

void Controller();
void Move(int, int, int, int, int, int);

BLYNK_WRITE(V0){
    for(int i=0; i<2; ++i){
        d[i] = param[i].asInt();
        if(d[i]<=64) d[i] = d[i]*2-255;
        else if(d[i]>64 && d[i]<=192) d[i]=0;
    }
}

void setup() {
    Serial.begin(9600);
    Blynk.begin(Serial, auth);
    for(int i=0; i<2; ++i){
        pinMode(en[i], OUTPUT);
        for(int j=0; j<2; ++j){
            pinMode(car[i][j], OUTPUT);
        }
    }
}

void loop() {
    Blynk.run();
    Controller();
}

void Controller() {
    if(d[0]>0){
        if(d[1]>0) Move(0, 1, 1, 0, min(d[0], d[1]), max(d[0], d[1]));
        else if(d[1]==0) Move(0, 0, 1, 0, 0, d[0]);
        else Move(1, 0, 0, 1, min(d[0], abs(d[1])), max(d[0], abs(d[1])));
    }
    else if(d[0]==0){
        if(d[1]>0) Move(1, 0, 1, 0, d[1], d[1]); 
        else if(d[1]==0) Move(0, 0, 0, 0, 0, 0); 
        else Move(0, 1, 0, 1, abs(d[1]), abs(d[1])); 
    }
    else{
        if(d[1]>0) Move(1, 0, 0, 1, max(abs(d[0]), d[1]), min(abs(d[0]), d[1])); 
        else if(d[1]==0) Move(1, 0, 0, 0, abs(d[0]), 0); 
        else Move(0, 1, 1, 0, max(abs(d[0]), abs(d[1])), min(abs(d[0]), abs(d[1])));
    }
}

void Move(int a1,int a2, int a3, int a4, int e1, int e2) {
    digitalWrite(car[0][0], a1);
    digitalWrite(car[0][1], a2);
    digitalWrite(car[1][0], a3);
    digitalWrite(car[1][1], a4);
    analogWrite(en[0], e1);
    analogWrite(en[1], e2);
}