//**************************************************************************************************************************
// Tutoriel CrcDuino Tutorial 2 - AlternativeReproduire to the native Arduino function Delay()
// Inspired by: https://www.norwegiancreations.com/2017/09/arduino-tutorial-using-millis-instead-of-delay/ 
//      and     https://www.norwegiancreations.com/2018/10/arduino-tutorial-avoiding-the-overflow-issue-when-using-millis-and-micros/
// The code below uses the millis() native Arduino function, a command that returns the number of milliseconds since the board started running its current sketch, to measure elapsed time.
// NOTE:  This version of the code does not handle correctly the case where the BTN_RUN is maintained for more than the time specified by delay1
//        Not a priority, might be corrected some day. Feel free to send your own solution to that problem at info.crc@sciencetech.ca
//la fonction delay()
//**************************************************************************************************************************
#include <CrcLib.h> // Obligatoire

//CrcLib programC'est requirementpratique 
//Rename IOs with meaningful name (good practice)d'avoir un nom pour chaque port de contrôle
#define SERVO_STAND_1 CRC_PWM_6
#define BTN_RUNAVANCE CRC_DIG_1

//Declare Déclaration programdes variablesconstantes (valuequi willont changeune duringvaleur executionfixe)
// *Generally, you should use "const unsigned long" forDELAIS_MS variables that hold time= 5000; // *Thedurée valuede willcontrôle quicklydu becomeservo too(en largemillisecondes, for an int to store
unsigned long time1Capture = 0;  //will store last time the time was recorded
bool btnHasBeenPressed = LOW; //tells us we pressed the button or not

//Declare program constants (value can't change during execution)
const unsigned long delay1 = 5000;           // time for which we send the servo command (milliseconds)donc 5s)

// Déclaration des variables (elle changeront de valeur, mais se "souviennent" de leur valeur)
Timer timer; // Pour chronometrer
bool enAttente = false; // Pour se souvenir de si nous sommes en attente

//**************************************************************************************************************************
void setup() {
  // putMettez yourvotre setupcode coded'initialisation here, to run once at the beginning:ici, il s'exécutera une seule fois au début du programme
  CrcLib::Initialize(); //Sets upInitialise thele CrcDuinoCRCduino
  
  CrcLib::InitializePwmOutput(SERVO_STAND_1, 500, 2500); //Sets Configure upla thesortie motordu outputmoteur, weavec specifydes thedurées minde andpulsations maxexplicites, pulsetelles lenghtque asdictées mentionedpar by the servo manufacturerle manufacturier
  CrcLib::SetDigitalPinMode(BTN_RUNAVANCE, INPUT); //Sets upConfigure thele digitalbouton portcomme as anentrée
Input
   Serial.begin(96001000000);
}
//**************************************************************************************************************************
void loop() {
  // putMettez yourici mainle code here, to run repeatedly de la boucle principale, qui s'exécutera à l'infini:
  CrcLib::Update(); //Refreshes the CrcDuino Tâches de routine du CRCduino

  if ( !(CrcLib::GetDigitalInput(BTN_RUNAVANCE) == HIGHLOW )&& !enAttente) //When the button is pressed (GND applied to the input)
  {
    btnHasBeenPressed = HIGH; //we wantQuand tole rememberbouton it happened, so that we go on even if released
  }

  if(btnHasBeenPressed == HIGH )  //If the button has been pressed
  {
    //we don't want to update time1Capture so that our timer loop below is monitored
    CrcLib::SetPwmOutput(SERVO_STAND_1, -64);  //But we want to send the servo to the desired position
  }
  else  //If the button has NOT been pressed
  {
    time1Capture = millis(); //we want to update time1Capture if the button has not been pressed, so that we don't enter the loop below...
    est appuyé (GND est connecté à l'entrée, donc CrcLib::GetDigitalInput() retourne LOW), et que nous ne sommes pas en attente
    timer.Start(DELAIS_MS); // on démarre le compte à rebours
    CrcLib::SetPwmOutput(SERVO_STAND_1, 0-64);  //we reseton theallume positionle commandservo
  }  enAttente  // This loop will be entered when more than "delay1" ms will have elapsed since the last time the "time1Capture" value has been updated
  // If the button has not been pressed, we continuously update time1Capture, so we will never enter the loop...
  // If the button has been pressed, we've stopped continuously updating time1Capture, so we will someday enter the loop!
  if(millis() - time1Capture > delay1)
  {
   = true; // on se souvient que nous sommes en attente
  }

  if(enAttente && timer.IsFinished()) { // Quand le compte à rebours s'achève
    CrcLib::SetPwmOutput(SERVO_STAND_1, 0);  //we On resetréinitialise thela position commanddu servo
       btnHasBeenPressedenAttente = LOWfalse; // On est prêts à recommencer }le tout
  }
}
//**************************************************************************************************************************