#include <Keypad.h>
#include <LiquidCrystal_I2C.h>


LiquidCrystal_I2C lcd(0x27, 20, 4); // I2C address 0x27, 16 column and 2 rows

#define ROW_NUM     4 // four rows
#define COLUMN_NUM  4 // four columns

char keys[ROW_NUM][COLUMN_NUM] = {
  {'1','2','3', 'A'},
  {'4','5','6', 'B'},
  {'7','8','9', 'C'},
  {'*','0','#', 'D'}
};

byte pin_rows[ROW_NUM]      = {19, 18, 5, 17}; // GIOP19, GIOP18, GIOP5, GIOP17 connect to the row pins
byte pin_column[COLUMN_NUM] = {16, 4, 2, 15};   // GIOP16, GIOP4, GIOP0, GIOP2 connect to the column pins

Keypad keypad = Keypad(makeKeymap(keys), pin_rows, pin_column, ROW_NUM, COLUMN_NUM );


int  cursorColumn = 0;
int  stepR = 12   ;
int  directR = 14 ;
int  count1;
int  stepL = 26   ;
int  directL = 25 ;
void setup(){
  pinMode(stepR, OUTPUT);
  pinMode(directR, OUTPUT);
  pinMode(stepL, OUTPUT);
  pinMode(directL, OUTPUT);
  lcd.init(); // initialize the lcd
  lcd.backlight();

  Serial.begin(9600);
  lcd.setCursor(6, 0),
  lcd.print("Movement");
 
  delay(500);
}

void loop(){
  char key = keypad.getKey();

  if (key) {
    Serial.println(key);
    //lcd.setCursor(4, 0); // move cursor to   (cursorColumn, 0)
   // lcd.print(key);                 // print key at (cursorColumn, 0)
  }
   switch (key){
    case'2':
  lcd.clear();
  lcd.setCursor(6, 0),
  lcd.print("Movement");
  lcd.setCursor(6, 2);
  lcd.print("Forward");
    for(count1=0; count1 < 400; count1++)
{
   digitalWrite(directR, HIGH);
   digitalWrite(stepR, HIGH);
   delay(1);
   digitalWrite(stepR, LOW);
   delay(1);
   digitalWrite(directL, LOW);
   digitalWrite(stepL, HIGH);
   delay(1);
   digitalWrite(stepL, LOW);
   delay(1);
}
    break;
     case'4':
  lcd.clear();
  lcd.setCursor(6, 0),
  lcd.print("Movement");
  lcd.setCursor(5, 2);
  lcd.print("Turn left");
    for(count1=0; count1 < 400; count1++)
{
   digitalWrite(directR, HIGH);
   digitalWrite(stepR, HIGH);
   delay(1);
   digitalWrite(stepR, LOW);
   delay(1);
   digitalWrite(directL, HIGH);
   digitalWrite(stepL, HIGH);
   delay(1);
   digitalWrite(stepL, LOW);
   delay(1);
}
    break;
    case'6':
  lcd.clear();
  lcd.setCursor(6, 0),
  lcd.print("Movement");
  lcd.setCursor(5, 2);
  lcd.print("Turn right");
    for(count1=0; count1 < 400; count1++)
{
   digitalWrite(directR, LOW);
   digitalWrite(stepR, HIGH);
   delay(1);
   digitalWrite(stepR, LOW);
   delay(1);
   digitalWrite(directL, LOW);
   digitalWrite(stepL, HIGH);
   delay(1);
   digitalWrite(stepL, LOW);
   delay(1);
}
    break;
   case'8':
  lcd.clear();
  lcd.setCursor(6, 0),
  lcd.print("Movement");
  lcd.setCursor(6, 2);
  lcd.print("Backward");

    for(count1=0; count1 < 400; count1++)
{
   digitalWrite(directR, LOW);
   digitalWrite(stepR, HIGH);
   delay(1);
   digitalWrite(stepR, LOW);
   delay(1);
   digitalWrite(directL, HIGH);
   digitalWrite(stepL, HIGH);
   delay(1);
   digitalWrite(stepL, LOW);
   delay(1);
}
  } 
}