//twitchie v0.5

#define servoPinA 2     // Control pin for servo motor
#define servoPinB 3     // Control pin for servo motor
#define servoPinC 4     // Control pin for servo motor
#define servoPinD 5     // Control pin for servo motor
#define servoPinE 6     // Control pin for servo motor
#define servoPinF 7     // Control pin for servo motor
#define servoPinG 8     // Control pin for servo motor
#define servoPinH 9     // Control pin for servo motor
#define Led 10          // activity light
#define touchsensor 11          // activity light

#define minangle 550    // Minimum servo position
#define maxangle 2400   // Maximum servo position
#define trigger 0       // the analog pin that the sensor's on
#define AWAKEN 100
#define SLEEPY 100

int uncleA[5] = {500, 1200, 2300,  1500, 3000};
int uncleB[5] = {500, 1200, 2600,  1500, 1200};
int uncleC[5] = {3000,1200, 300, 1500, 3000};
int uncleD[5] = {3000,1200, 600, 1500,  1700};
int uncleE[5] = {3000,1200, 600, 1500, 3000};
int uncleF[5] = {3000,1200, 600, 1500,  1700};
int uncleG[5] = {500, 1200, 3200, 1800,  3000};
int uncleH[5] = {500, 1200, 3600,  1300, 3000};
char uncleindex = 0;
char recenttouch= 0;
char SEEDS[256] __attribute__((progmem)) = {208,75,137,110,218,247,165,23,248,216,204,59,118,35,193,29,83,158,93,57,224,194,3,207,205,149,203,22,129,171,10,
142,251,99,249,244,144,16,17,238,37,197,111,151,4,192,104,7,95,150,67,101,69,15,132,186,87,156,206,27,166,20,182, 
163,92,198,119,213,180,61,152,39,185,19,58,45,33,64,24,160,40,222,172,131,227,221,105,108,177,183,73,43,157,12,199,
113,9,245,126,130,106,120,210,215,31,167,246,76,139,195,239,50,229,169,55,122,212,30,112,6,85,141,82,236,21,32,89,
219,173,188,127,74,214,187,190,176,62,123,189,121,184,148,225,34,1,196,28,49,46,79,77,54,117,240,175,242,140,231,
13,128,25,97,146,228,179,116,70,53,178,18,254,78,109,155,241,233,81,255,159,202,102,2,174,14,147,234,60,8,84,52,98,
100,230,145,211,125,11,181,164,26,90,134,161,36,71,223,143,232,136,63,68,51,96,243,66,65,235,47,154,237,252,72,209,
114,138,115,86,250,5,94,133,42,44,88,226,103,253,124,168,91,48,217,56,80,135,220,107,191,201,162,153,38,170,41,200,0};


/////////////////////////////////////////////////////////////////
void setup() {
  pinMode(servoPinA, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPinB, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPinC, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPinD, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPinE, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPinF, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPinG, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPinH, OUTPUT);  // Set servo pin as an output pin
  pinMode(Led, OUTPUT);
  pinMode(touchsensor, INPUT);  // touch sensor on one of the extra pins
  Serial.begin(9600);
  ledflash(3,200);
  Serial.println("I... am... ALIIIIVE!!!!!");
//  purr(1,20,1);  
}
/////////////////////////////////////////////////////////////////
void loop() {
  analogWrite(Led,random(1,200));
  randomSeed(millis());
//  if(analogRead(trigger)>AWAKEN){
//    Serial.println("WAKEY!!!");
//  }
    ooze(2,10,25);
    ooze(3,1,5);
    ooze(5,3,13);

//  if(analogRead(trigger)<SLEEPY){
//    purr(3,20,4);
//    Serial.println("TIRED");
//    quiver(0, random(3,10),random(3,10),random(30,140));
//    timedsleep(random(10,50));
//  }

}
////////////////////////////////////////////////


void ledflash(int number, int duration) {  
  for(;number>0;number--){
    delay(duration/2);
    digitalWrite(Led, HIGH);   // sets the LED on  
    delay(duration/2);                  // waits for a second  
    digitalWrite(Led, LOW);    // sets the LED off  
  }
} 

//////////////////////////////////////////////////////////////
void servo(char pin, int angle){
  // protect the servos from pulses that move them too far
  if(angle>maxangle){angle=maxangle;}
  if(angle<minangle){angle=minangle;}

  // now figure out which one should move, and move it toward the angle specified
  // this will only move the servo by one pulse, 
  // so you will need to call this a few times to get it all the way there
  if(pin=='A' || pin=='a'){digitalWrite(servoPinA, HIGH);}
  if(pin=='B' || pin=='b'){digitalWrite(servoPinB, HIGH);}
  if(pin=='C' || pin=='c'){digitalWrite(servoPinC, HIGH);}
  if(pin=='D' || pin=='d'){digitalWrite(servoPinD, HIGH);}
  if(pin=='E' || pin=='e'){digitalWrite(servoPinE, HIGH);}
  if(pin=='F' || pin=='f'){digitalWrite(servoPinF, HIGH);}
  if(pin=='G' || pin=='g'){digitalWrite(servoPinG, HIGH);}
  if(pin=='H' || pin=='h'){digitalWrite(servoPinH, HIGH);}
 
  delayMicroseconds(angle);       // Length of the pulse sets the motor position

  if(pin=='A' || pin=='a'){digitalWrite(servoPinA, LOW);}
  if(pin=='B' || pin=='b'){digitalWrite(servoPinB, LOW);}
  if(pin=='C' || pin=='c'){digitalWrite(servoPinC, LOW);}
  if(pin=='D' || pin=='d'){digitalWrite(servoPinD, LOW);}
  if(pin=='E' || pin=='e'){digitalWrite(servoPinE, LOW);}
  if(pin=='F' || pin=='f'){digitalWrite(servoPinF, LOW);}
  if(pin=='G' || pin=='g'){digitalWrite(servoPinG, LOW);}
  if(pin=='H' || pin=='h'){digitalWrite(servoPinH, LOW);}
}


void ooze(int quantity, int slowness, int stepsize){
  int gosize;
  int goslowness;
  int c; int flag; int rhold[8]; int rtarget[8];
  for(c=0;c<8;c++){ rhold[c] = random(minangle,maxangle);}
  Serial.println("load r holds");

  for ( ; quantity>0; quantity--){
  flag=0;

    for(c=0;c<8;c++){ rtarget[c] = random(minangle,maxangle);} 
    Serial.println("load r targets");
      gosize=stepsize;
      goslowness=slowness;
      while(flag==0){
        for ( c=goslowness; c>0; c--){
          servo('a',rhold[0]);
          servo('b',rhold[1]);
          servo('c',rhold[2]);
          servo('d',rhold[3]);
          servo('e',rhold[4]);
          servo('f',rhold[5]);
          servo('g',rhold[6]);
          servo('h',rhold[7]);
          delay(15);
          if(recenttouch>0){recenttouch--;}
          }
        if ( (digitalRead(touchsensor)==0) && (recenttouch==0) ){
            gosize=200; 
            goslowness=1;  
              rtarget[0]=uncleA[uncleindex];
              rtarget[1]=uncleB[uncleindex];
              rtarget[2]=uncleC[uncleindex];
              rtarget[3]=uncleD[uncleindex];
              rtarget[4]=uncleE[uncleindex];
              rtarget[5]=uncleF[uncleindex];
              rtarget[6]=uncleG[uncleindex];
              rtarget[7]=uncleH[uncleindex];
              uncleindex++; if(uncleindex>4){uncleindex=0;}
              recenttouch=40;

              Serial.println("Bad touch! UNCLE TOUCH!");
        }
        flag=1;
        for(c=0;c<8;c++){
          if((rhold[c]-rtarget[c])>gosize){flag=0; rhold[c]-=gosize;}
          if((rtarget[c]-rhold[c])>gosize){flag=0; rhold[c]+=gosize;}
        }
     }
  }
}


void burst(char quantity, char slowness, char type){
   int c, holdcount ; 
   int rhold0, rhold1, rhold2, rhold3, rhold4, rhold5, rhold6, rhold7;
   if (type==0){
      for ( ; quantity>0; quantity--){
       if (analogRead(trigger) < SLEEPY ) { return;}
       Serial.print("whee! ");
         rhold0 = random(minangle,maxangle);
         rhold1 = random(minangle,maxangle);
         rhold2 = random(minangle,maxangle);
         rhold3 = random(minangle,maxangle);
         rhold4 = random(minangle,maxangle);
         rhold5 = random(minangle,maxangle);
         rhold6 = random(minangle,maxangle);
         rhold7 = random(minangle,maxangle);
         holdcount = random(1,10);
         for ( c=slowness; c>0; c--){
           servo('a',rhold0);
           servo('b',rhold1);
           servo('c',rhold2);
           servo('d',rhold3);
           servo('e',rhold4);
           servo('f',rhold5);
           servo('g',rhold6);
           servo('h',rhold7);
           delay(holdcount);
         }
      }
   }
   if (type==1){
      for ( ; quantity>0; quantity--){
       if (analogRead(trigger) < SLEEPY ) { return;}
        Serial.print("wh00t! ");
        rhold0 = random(minangle,maxangle);
        rhold1 = random(minangle,maxangle);
        rhold2 = random(minangle,maxangle);
        rhold3 = random(minangle,maxangle);
        rhold4 = random(minangle,maxangle);
        rhold5 = random(minangle,maxangle);
        rhold6 = random(minangle,maxangle);
        rhold7 = random(minangle,maxangle);
        holdcount = random(1,10);
        for ( c=holdcount; c>0; c--){ 
          servo('a',rhold0);
          delay(slowness);
        }
        holdcount = random(1,10);
        for ( c=holdcount; c>0; c--){
          servo('b',rhold1); 
          delay(slowness);
        }
        holdcount = random(1,10);
        for ( c=holdcount; c>0; c--){
          servo('c',rhold2);
          delay(slowness);
        }
        for ( c=holdcount; c>0; c--){
          servo('d',rhold3); 
          delay(slowness);
        }
        holdcount = random(1,10);
        for ( c=holdcount; c>0; c--){
          servo('e',rhold4);
          delay(slowness);
        }
        holdcount = random(1,10);
        for ( c=holdcount; c>0; c--){
          servo('f',rhold5);
          delay(slowness);
        }
        holdcount = random(1,10);
        for ( c=holdcount; c>0; c--){
          servo('g',rhold6);
          delay(slowness);
        }
        holdcount = random(1,10);
        for ( c=holdcount; c>0; c--){
          servo('h',rhold7);
          delay(slowness);
        }
      }
   }
}

///////////////////////////////////////////////////////////////////////////////
void purr(int duration, int offset, int reps){
int c,i,ii; 
int start0, start1, start2, start3, start4, start5, start6, start7;
int finish0, finish1, finish2, finish3, finish4, finish5, finish6, finish7;

   start0 = random(minangle,maxangle);
   start1 = random(minangle,maxangle);
   start2 = random(minangle,maxangle);
   start3 = random(minangle,maxangle);
   start4 = random(minangle,maxangle);
   start5 = random(minangle,maxangle);
   start6 = random(minangle,maxangle);
   start7 = random(minangle,maxangle);
   Serial.print("pu");
   for(i=reps;i>0;i--){
   Serial.print("r");
   if (analogRead(trigger) < SLEEPY ) { return;}
      finish0 = random(minangle,maxangle);
      finish1 = random(minangle,maxangle);
      finish2 = random(minangle,maxangle);
      finish3 = random(minangle,maxangle);
      finish4 = random(minangle,maxangle);
      finish5 = random(minangle,maxangle);
      finish6 = random(minangle,maxangle);
      finish7= random(minangle,maxangle);
      for ( ii=duration; ii>0; ii--){
   
         if (start0>(finish0+offset)){start0=start0-offset;}
         else if (start0<(finish0-offset)){start0=start0+offset;}
         else {start0=finish0;}
   
         if (start1>(finish1+offset)){start1=start1-offset;}
         else if (start1<(finish1-offset)){start1=start1+offset;}
         else {start1=finish1;}
   
         if (start2>(finish2+offset)){start2=start2-offset;}
         else if (start2<(finish2-offset)){start2=start2+offset;}
         else {start2=finish2;}

         if (start3>(finish3+offset)){start3=start3-offset;}
         else if (start3<(finish3-offset)){start3=start3+offset;}
         else {start3=finish3;}

         if (start4>(finish4+offset)){start4=start4-offset;}
         else if (start4<(finish4-offset)){start4=start4+offset;}
         else {start4=finish4;}

         if (start5>(finish5+offset)){start5=start5-offset;}
         else if (start5<(finish5-offset)){start5=start5+offset;}
         else {start5=finish5;}

         if (start6>(finish6+offset)){start6=start6-offset;}
         else if (start6<(finish6-offset)){start6=start6+offset;}
         else {start6=finish6;}

         if (start7>(finish7+offset)){start7=start7-offset;}
         else if (start7<(finish7-offset)){start7=start7+offset;}
         else {start7=finish7;}

         if (start0 != finish0){servo('a',start0);}
         if (start1 != finish1){servo('b',start1);}
         if (start2 != finish2){servo('c',start2);}
         if (start3 != finish3){servo('d',start3);}
         if (start4 != finish4){servo('e',start4);}
         if (start5 != finish5){servo('f',start5);}
         if (start6 != finish6){servo('g',start6);}
         if (start7 != finish7){servo('h',start7);}
         delay(25);
      }
   }
}

////////////////////////////////////////////////////////////////////////////
void quiver(char quittable, char duration,char slowness, char intensity){
int c, holdtime ; 
int rhold0, rhold1, rhold2, rhold3, rhold4, rhold5, rhold6, rhold7;
      Serial.print("qu");
      for ( ; duration>0; duration--){
      rhold0 = random(minangle,maxangle);
      rhold1 = random(minangle,maxangle);
      rhold2 = random(minangle,maxangle);
      rhold3 = random(minangle,maxangle);
      rhold4 = random(minangle,maxangle);
      rhold5 = random(minangle,maxangle);
      rhold6 = random(minangle,maxangle);
      rhold7 = random(minangle,maxangle);
      holdtime = random(2,25);
      if ((quittable)&&(analogRead(trigger) < SLEEPY)) { return;}
         Serial.print("i");
         for ( c=slowness; c>0; c--){
         servo('a',rhold0);
         servo('b',rhold1);
         servo('c',rhold2);
         servo('d',rhold3);
         servo('e',rhold4);
         servo('f',rhold5);
         servo('g',rhold6);
         servo('h',rhold7);

         delay(holdtime);
         servo('a',rhold0+intensity);
         servo('b',rhold1+intensity);
         servo('c',rhold2+intensity);
         servo('d',rhold3+intensity);
         servo('e',rhold4+intensity);
         servo('f',rhold5+intensity);
         servo('g',rhold6+intensity);
         servo('h',rhold7+intensity);
         delay(holdtime);
      }
   }
   Serial.println("ver");
}

/////////////////////////////////////////////////////////////////////////
void timedsleep(int duration){
   int c;
   Serial.print("I'm sleepy! I'm going to sleep for ");
   Serial.print(duration, DEC);
   Serial.print(" Z's... getting... ");
   Serial.print("sle");
      for ( ; duration >0; duration --){
      for (c=4;c>0;c--){
         delay(150);
         Serial.print("e");
         if (analogRead(trigger) > AWAKEN ) { 
           Serial.print("  Oh! you woke me!");
           return;
         }
      }
   }
   Serial.println("py ");
}