From c1cdd646e2d0c6d185519db69625f773bc86bd2b Mon Sep 17 00:00:00 2001
From: Julien Oculi <xdrz.jot.sr@gmail.com>
Date: Tue, 25 Jun 2024 17:20:53 +0200
Subject: [PATCH] refactor(server): :recycle: simplify motor control and remove
 code duplication

---
 server/commande_telephone.ino | 166 ++++++----------------------------
 1 file changed, 29 insertions(+), 137 deletions(-)

diff --git a/server/commande_telephone.ino b/server/commande_telephone.ino
index 4dd8397..059b78f 100644
--- a/server/commande_telephone.ino
+++ b/server/commande_telephone.ino
@@ -196,175 +196,67 @@ void chooseCommand()
   }
 }
 
+void writeMotor(uint8_t left, uint8_t right)
+{
+  digitalWrite(IN4a, left & 0b1000);
+  digitalWrite(IN3a, left & 0b0100);
+  digitalWrite(IN2a, left & 0b0010);
+  digitalWrite(IN1a, left & 0b0001);
+  digitalWrite(IN4b, right & 0b1000);
+  digitalWrite(IN3b, right & 0b0100);
+  digitalWrite(IN2b, right & 0b0010);
+  digitalWrite(IN1b, right & 0b0001);
+}
+
 void forward()
 {
-  digitalWrite(IN4a, HIGH);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, HIGH);
+  writeMotor(0b1000, 0b0001);
   delay(delayTime);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, HIGH);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, HIGH);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0100, 0b0010);
   delay(delayTime);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, HIGH);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, HIGH);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0010, 0b0100);
   delay(delayTime);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, HIGH);
-  digitalWrite(IN4b, HIGH);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0001, 0b1000);
   delay(delayTime);
 }
 
 void backward()
 {
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, HIGH);
-  digitalWrite(IN4b, HIGH);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0001, 0b1000);
   delay(delayTime);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, HIGH);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, HIGH);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0010, 0b0100);
   delay(delayTime);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, HIGH);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, HIGH);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0100, 0b0010);
   delay(delayTime);
-  digitalWrite(IN4a, HIGH);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, HIGH);
+  writeMotor(0b1000, 0b0001);
   delay(delayTime);
 }
 
 void right()
 {
-  digitalWrite(IN4a, HIGH);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, HIGH);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b1000, 0b1000);
   delay(delayTime);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, HIGH);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, HIGH);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0100, 0b0100);
   delay(delayTime);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, HIGH);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, HIGH);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0010, 0b0010);
   delay(delayTime);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, HIGH);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, HIGH);
+  writeMotor(0b0001, 0b0001);
   delay(delayTime);
 }
 
 void left()
 {
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, HIGH);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, HIGH);
+  writeMotor(0b0001, 0b0001);
   delay(delayTime);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, HIGH);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, HIGH);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0010, 0b0010);
   delay(delayTime);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, HIGH);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, HIGH);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0100, 0b0100);
   delay(delayTime);
-  digitalWrite(IN4a, HIGH);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, HIGH);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b1000, 0b1000);
   delay(delayTime);
 }
 
 void stopMotors(void)
 {
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
+  writeMotor(0b0000, 0b0000);
 }