#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <ESPRotary.h>
#include <OneButton.h>
#include <MsTimer2.h>

volatile float realangle;
volatile int motorspeed;
volatile float anglelast;
volatile float angle;
volatile int encoderDir;
volatile int i;
LiquidCrystal_I2C mylcd(0x27,16,2);
ESPRotary encoder1;
OneButton button4(4,true);
OneButton button12(12,true);
OneButton button13(13,true);

void checkEncoder() {
  if (digitalRead(2) == 0) {
    delayMicroseconds(1000);
    if (digitalRead(2) != digitalRead(3)) {
      encoderDir = 1;

    } else {
      encoderDir = -1;

    }

  }
}

void attachInterrupt_fun_FALLING_2() {
  checkEncoder();
  angle = angle + 0.9*encoderDir*400;
}

void lcdDisplay() {
  mylcd.setCursor(3-1, 1-1);
  mylcd.print("Set Motor rounds:");
  mylcd.setCursor(4-1, 2-1);
  mylcd.print(String(angle / 360) + String(" rounds"));
}

void attachClick4() {
  MotorMove();
}

void attachClick12() {
  motorspeed = motorspeed - 1000;
  Serial.println(motorspeed);
}

void MotorMove() {
  int n = 0;
  float delta = 0;
  delta = abs(angle - anglelast);
  n = delta / 0.1125;
  if (angle >= anglelast) {
    digitalWrite(5,HIGH);

  } else {
    digitalWrite(5,LOW);

  }
  for (int i = (1); i <= (n); i = i + (1)) {
    steponepulse();
  }
  anglelast = angle;
  MsTimer2::stop();
}

void attachClick13() {
  motorspeed = motorspeed + 1000;
  Serial.println(motorspeed);
}

void steponepulse() {
  digitalWrite(6,HIGH);
  delayMicroseconds(motorspeed);
  digitalWrite(6,LOW);
  delayMicroseconds(motorspeed);
}

void setup(){
  pinMode(2, INPUT_PULLUP);
  pinMode(3, INPUT);
  realangle = 0;
  motorspeed = 5000;
  anglelast = 0;
  angle = 0;
  encoderDir = 1;
  i = 0;
  mylcd.init();
  mylcd.backlight();
  encoder1.begin(3, 2);
  encoder1.setStepsPerClick(4);
  pinMode(7, OUTPUT);
  encoder1.loop();
  pinMode(0, OUTPUT);
  digitalWrite(7,LOW);
  button4.attachClick(attachClick4);
  button12.attachClick(attachClick12);
  Serial.begin(9600);
  pinMode(5, OUTPUT);
  button13.attachClick(attachClick13);
  pinMode(6, OUTPUT);
}

void loop(){
  attachInterrupt(digitalPinToInterrupt(2),attachInterrupt_fun_FALLING_2,FALLING);

  button4.tick();
  button12.tick();
  lcdDisplay();

  button13.tick();
}