#include <SD.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Servo.h>
#include <Wire.h>
#include <EEPROM.h>
#include <RTClib.h>
LiquidCrystal_I2C lcd(0x27,20,4);

//6050
const int MPU = 0x68; // MPU6050 I2C address
//float AccX, AccY, AccZ;
float GyroX, GyroY, GyroZ;
//float accAngleX, accAngleY, gyroAngleX, gyroAngleY, gyroAngleZ;
//float roll, pitch, yaw;
float GyroErrorX, GyroErrorY, GyroErrorZ;
//float elapsedTime, currentTime, previousTime;
int c = 0;

//sd
#define CS_PIN 10
//inicializar pulsadores
int but1 = 3;
int but2 = 4;
int but3 = 5;
int but4 = 7;
int buzzer = 6;
int servoPin = 9;

//variables de control
int time = 8;				//horas entre comidas
int timeMin = 0;			//minutos entre comidas
int Hour, Min;
int last_feed_hour;
int next_feed_hour;
int last_feed_min;
int next_feed_min;
//Time t;

//6050
unsigned long prevTime = 0;
unsigned long period = 2000; 
const uint8_t buttonPins[] = {3, 4, 5 ,7};
char daysOfTheWeek[7][12] = {"Sunday", "Monday", "Tuesday", "Wednesday", "Thursday", "Friday", "Saturday"};

//int portionAngle = 180;
int portions = 8;
boolean servoOn;
int pinServo = 9;	//servo = D9
int pos = 0;    	//variable que almacena la posición en grados del servo

File root;
Servo servo;
RTC_DS1307 rtc;

void setup() {


	//LCD setup
	servo.attach(servoPin);  		// Se configura el pin del servo
	

  for (byte i = 0; i < 4; i++) {
    //pinMode(ledPins[i], OUTPUT);
    pinMode(buttonPins[i], INPUT_PULLUP);
  }

	servo.attach(servoPin);
	servo.write(92);
  
	//LCD setup
	lcd.init();                      // initialize the lcd
	lcd.backlight();				//se enciende los leds de iluminación
	lcd.setCursor(3,0);				//col 3 fila 0
	lcd.print("Hello, world!");		//mensaje a imprimir en lcd
	lcd.setCursor(2,1);
	lcd.print("Ywrobot Arduino!");
	lcd.setCursor(0,2);
	delay(1000);		
	lcd.clear();					//tras un delay se limpia la pantalla
	
	//se carga de la memoria la siguiente hora y minuto
	last_feed_hour = EEPROM.read(2);
	next_feed_hour = EEPROM.read(3);
	last_feed_min = EEPROM.read(4);
	next_feed_min = EEPROM.read(5);
  
  Serial.begin(115200);


  //SD SETUP
  Serial.print("Initializing SD card... ");
  if (!SD.begin(CS_PIN)) {
    Serial.println("Card initialization failed!");
    while (true);
  }
  Serial.println("initialization done.");
  Serial.println("Files in the card:");
  root = SD.open("/");
  printDirectory(root, 0);
  Serial.println("");
  // Example of reading file from the card:
  File textFile = SD.open("wokwi.txt");
  if (textFile) {
    Serial.print("wokwi.txt: ");
    while (textFile.available()) {
      Serial.write(textFile.read());
    }
    textFile.close();
  } else {
    Serial.println("error opening the file!");
  }

  // 6050 SETUP
  //Serial.begin(19200);
  Wire.begin();                      // Initialize comunication
  Wire.beginTransmission(MPU);       // Start communication with MPU6050 // MPU=0x68
  Wire.write(0x6B);                  // Talk to the register 6B
  Wire.write(0x00);                  // Make reset - place a 0 into the 6B register
  Wire.endTransmission(true);        //end the transmission
  // Call this function if you need to get the IMU error values for your module
  calculate_IMU_error();
  delay(20);

}

void loop() {
  // nothing happens after setup finishes.
  DateTime now = rtc.now();
  Hour = (now.hour());
  Min = (now.minute());
  if ((Hour == next_feed_hour) && (Min == next_feed_min)){
    Serial.print("Success!!!!!!!!!!");
    delay(2000);
		servoOn = true;
		last_feed_hour = Hour;
		last_feed_min = Min;
		next_feed_min = Min + timeMin;
		if (next_feed_min > 59){
			//si el intervalo del siguiente minuto de la ola que surge del ultimo suspiro
			//supera 59 se resta para obtener el minuto correspondiente
			//si supera lo 60 segundo se debe sumar una unidad a la hora siguiente
			next_feed_hour = Hour + time + 1;
			next_feed_min = next_feed_min - 60;
		}else{
			next_feed_hour = Hour + time;
		}
		//finalmente, si llega a 24 o mayor se resta al horario PM
		if (next_feed_hour > 23){
			next_feed_hour = next_feed_hour - 24;		
		}
    EEPROM.write(2, last_feed_hour);
		EEPROM.write(3, next_feed_hour);
		EEPROM.write(4, last_feed_min);
		EEPROM.write(5, next_feed_min);
	}


  if (servoOn){
		//se cambia el mensaje del 
    Serial.println("Testing");
    delay(5000);
    servoOn = false;
		lcd.clear();
		lcd.setCursor(0,0);
		lcd.print("Ejecutando");
		
		//se activa el zumbador
		/*analogWrite(buzzer, 400);
		delay(400);
		digitalWrite(buzzer, LOW);*/
		
		//puesta en marcha del servo
		for (pos = 1; pos < portions; pos++) { 		// una iteración es un grado del servo
			servo.write(180);              			// escritura de la posición y movimiento
			delay(500);                      		// tiempo para que el servo alcance los grados
		}
		servo.write(92);
		
	}	

  unsigned long currTime = millis();
    if (currTime - prevTime >= period){
      DateTime now = rtc.now();
      lcd.clear();
      lcd.setCursor(0,0);
      //lcd.print("It's feeding time my ");
      lcd.print("Next Feed ");
      lcd.print(next_feed_hour);
      lcd.print(":");
      lcd.print(next_feed_min);
      
      lcd.setCursor(0,1);
      lcd.print("Hora actual: ");
      lcd.print((now.hour(), DEC));
      lcd.print(":");
      lcd.print((now.minute(), DEC));
      
      lcd.setCursor(0,2);
      lcd.print("Porciones: ");
      lcd.print(portions);
      /*Serial.print("Hora actual: ");
      Serial.println(now.second(), DEC);*/
      
      prevTime += period;;
    

      //6050 CODE
      Wire.beginTransmission(MPU);
      Wire.write(0x43); // Gyro data first register address 0x43
      Wire.endTransmission(false);
      Wire.requestFrom(MPU, 6, true); // Read 4 registers total, each axis value is stored in 2 registers
      GyroX = (Wire.read() << 8 | Wire.read()) / 131.0; // For a 250deg/s range we have to divide first the raw value by 131.0, according to the datasheet
      GyroY = (Wire.read() << 8 | Wire.read()) / 131.0;
      GyroZ = (Wire.read() << 8 | Wire.read()) / 131.0;
      // Correct the outputs with the calculated error values
      GyroX = GyroX + 0.56; // GyroErrorX ~(-0.56)
      GyroY = GyroY - 2; // GyroErrorY ~(2)
      GyroZ = GyroZ + 0.79; // GyroErrorZ ~ (-0.8)

      if ((GyroX > 45) || (GyroY > 45) || (GyroX < -45) || (GyroY < -45)){
        //Serial.println("Se ha producido la accion de la volcasión!!!");
        lcd.clear();
        lcd.print("Volcado");
      }

  }

  	//este boton cambia las porciones
    for (byte i = 0; i < 4; i++) {
      //byte buttonPin = buttonPins[i];
      if (digitalRead(buttonPins[0]) == LOW) {
        portions++;
        if (portions > 20){
          portions = 2;
        }
        lcd.clear();
        lcd.print("Portion increased +1 ");
        delay(200);
      } 
      //Este la hora de comida
      if (digitalRead(buttonPins[1]) == LOW) {
        lcd.clear();
        lcd.print("dgc");
        delay(1000);
      }
      //Minutos de comida
      if (digitalRead(buttonPins[2]) == LOW) {
        lcd.clear();
        lcd.print("nani");
        delay(1000);
      }
      //argo hase
      if (digitalRead(buttonPins[3]) == LOW) {
        lcd.clear();
        lcd.print("ahhh");
        delay(1000);
      }
    }

}


//SD CODE
void printDirectory(File dir, int numTabs) {
  while (true) {

    File entry =  dir.openNextFile();
    if (! entry) {
      // no more files
      break;
    }
    for (uint8_t i = 0; i < numTabs; i++) {
      Serial.print('\t');
    }
    Serial.print(entry.name());
    if (entry.isDirectory()) {
      Serial.println("/");
      printDirectory(entry, numTabs + 1);
    } else {
      // files have sizes, directories do not
      Serial.print("\t\t");
      Serial.println(entry.size(), DEC);
    }
    entry.close();
  }
}





void calculate_IMU_error() {
  // We can call this funtion in the setup section to calculate the accelerometer and gyro data error. From here we will get the error values used in the above equations printed on the Serial Monitor.
  // Note that we should place the IMU flat in order to get the proper values, so that we then can the correct values
  c = 0;
  // Read gyro values 200 times
  while (c < 200) {
    Wire.beginTransmission(MPU);
    Wire.write(0x43);
    Wire.endTransmission(false);
    Wire.requestFrom(MPU, 6, true);
    GyroX = Wire.read() << 8 | Wire.read();
    GyroY = Wire.read() << 8 | Wire.read();
    GyroZ = Wire.read() << 8 | Wire.read();
    // Sum all readings
    GyroErrorX = GyroErrorX + (GyroX / 131.0);
    GyroErrorY = GyroErrorY + (GyroY / 131.0);
    GyroErrorZ = GyroErrorZ + (GyroZ / 131.0);
    c++;
  }
  //Divide the sum by 200 to get the error value
  GyroErrorX = GyroErrorX / 200;
  GyroErrorY = GyroErrorY / 200;
  GyroErrorZ = GyroErrorZ / 200;
  // Print the error values on the Serial Monitor
  lcd.clear();
  lcd.setCursor(0,0);				//col 3 fila 0
  lcd.print("GyroErrorX: ");
  lcd.println(GyroErrorX);
  lcd.setCursor(0,1);				//col 3 fila 0
  lcd.print("GyroErrorY: ");
  lcd.println(GyroErrorY);
  lcd.setCursor(0,2);				//col 3 fila 0
  lcd.print("GyroErrorZ: ");
  lcd.println(GyroErrorZ);
  delay(200);
}