//p13 LED is powerstate light
//blue LED dark is transit system ID, not controled
//BAR LED is welder pigtail, light blue wires are sim functional only, LEDs are sim only
//b1 LED is machine trigger signal,needs b4
//b2 LED lite ia gas, pre flow means gas and trigger can be same time,needs b4
//b3 LED is welder enable, needs b4
//b4 LED is welder grnd
//b5 LED final slope collector, poitive in
//b6 LED final slope emmitter //would use relay to b5
//b7 LED pulse lockout collector, poitive in
//b8 LED pulse lockout emmitter //would use relay to b7
//b9 LED valid arc collector, poitive in, needs specific resistance for miller limits, for sim default on, IRL would power up, thus in sim need manually disable with pushbutton
//b10 LED valid arc collector //would use relay to b9

//timer code below
//if (lastChange + pot2 <= micros()) { lastChange = micros(); state = !state; digitalWrite(steppin, state); state = !state;digitalWrite(steppin, state);i=i+1; }





//int RX =0;
//int TX =1; 
int push = 2;    //start button
int dirpin = 3;   //stepper direction
int steppin = 4;   //stepper motion
int transit = 5;   // switch for activating second radius, Dip#8 dark greek LED
int weld = 6;   //LED BAR b1,b2
int arc =7;   //valid arc input
//int pulse =8;   //pulse lock  
//int unused =9;
//int unused =10;
//int unused =11;
int rad2 =12;     // dark blue LED lit when working on secound radius
int enable = 13;     //board LED, intial acknowledgement light 
int pot1pin = A0;  //14 //star traverse speed
int pot2pin = A1;  //15  //inner radius continous bead speed
int pot3pin = A2;  //16 //tack weld time
int pot4pin = A3;  //17 //transit of welder time
int pot5pin = A4; //18  //valid arc kill timer
int pot6pin = A5; //19  //out radius bead speed

// the below aare called values that change
int a = 0; //obsolete
int b = 0; // arm int
int c = 0; // weld map
int d = 0; //arc int
//int e = 0; // pulse int
int w = 0; //weld int
int p = 0; //stage map
int dlay1 =8000;
long dlay2 =20000;
//int dlay3 = 250; //valid arc time delay, if no arc after this time(microseconds) then shuts down the program
int long pot1;  //stored value
int long pot2;  //stored value
int long pot3;  //stored value
int long pot4;  //stored value
int long pot5;  //stored value
int long pot6;  //stored value
int long lastChange; // the time of changing pin state
int long state = HIGH;  //clock ID
long i = 0;  //rev step counter
long j = 0;  //stall counter

//button specific
int powerState = LOW; 
int buttonState = HIGH;             
int lastButtonState = LOW; 
unsigned long lastDebounceTime = 0;
unsigned long debounceDelay = 50;

void setup()
{
  pinMode(steppin, OUTPUT);
  pinMode(dirpin, OUTPUT);
  pinMode(push, INPUT_PULLUP);
  pinMode(enable, OUTPUT);
  //pinMode(pulse, INPUT_PULLUP);
  pinMode(arc, INPUT_PULLUP);
  //pinMode(fs, INPUT);
  pinMode(weld, OUTPUT);
  pinMode(transit,INPUT);
  pinMode(rad2, OUTPUT);
  lastChange = micros();  // stepper state changed NOW
  digitalWrite(steppin, state);
  Serial.begin(2000000); // suggest 115200 or 230400 for com speed, 9600 too slow //mute if not on Sim
  Serial.println("Press Button to Initiate"); //mute if not on sim
  i=0;
  j=0;

  digitalWrite(enable, powerState);

pot1 = map(analogRead(pot1pin), 0, 1023, 2000, 1);  // postion traverse speed
pot2 = map(analogRead(pot2pin), 0, 1023, 2000, 1);  // bead traverse speed
pot3 = map(analogRead(pot3pin), 0, 1023, 3000, 500);  // tack weld time
pot4 = map(analogRead(pot4pin), 0, 1023, 5000, 1000);  // arm and start transition time
pot5 = map(analogRead(pot5pin), 0, 1023, 10000, 1000);  // valid arc kill timer
pot6 = map(analogRead(pot6pin), 0, 1023, 10000, 1);  // outer radius speed
// if using the single run values, must reset every adjustment

}

void loop(){

  //button debounce
   int reading = digitalRead(push);
   if (reading != lastButtonState) {lastDebounceTime = millis();}
   if ((millis() - lastDebounceTime) > debounceDelay) {
    if (reading != buttonState) {buttonState = reading;
      if (buttonState == HIGH) {powerState = !powerState;
        if (powerState == HIGH){p=p+1;
        Serial.println(p); //mute if not sim
        }}  }}
  digitalWrite(enable, powerState);
  lastButtonState = reading;

  //this segment is reoccuring checks
  if(digitalRead(enable) == LOW){a = 0; b = 0; c=0; w=0; i=0; p=0;} //if enable is off resets int A and B 
  digitalWrite(dirpin, HIGH); //set as high until a reverser is implemented
  //pot1 = map(analogRead(pot1pin), 0, 1023, 2000, 1);  // postion traverse speed
//pot1 = 1;
  //pot2 = map(analogRead(pot2pin), 0, 1023, 2000, 1);  // bead traverse speed
//pot2 = 1;
  //pot3 = map(analogRead(pot3pin), 0, 1023, 3000, 500);  // tack weld time
//pot3 = 3000;
  //pot4 = map(analogRead(pot4pin), 0, 1023, 5000, 1000);  // arm and start transition time
//pot4 = 1000;
  //pot5 = map(analogRead(pot5pin), 0, 1023, 10000, 1000);  // valid arc kill timer
//pot5 = 1000;
  //pot6 = map(analogRead(pot6pin), 0, 1023, 10000, 1);  // outer radius speed
//pot6 = 1;
//using analog read eats 9600 clock cycles every run through


//initial delay period
if(a ==1){if (lastChange <= micros()) {lastChange = micros(); state = !state; state = !state;  i=i+1;} 
       if(i >= pot4){w=0;a=0;b=0;i=0;p=p+1;
       Serial.println(p); //mute if not sim
       }  }

//weld circuit
  if (w == 1){digitalWrite(weld, HIGH);}  //welder pin on 
  if (digitalRead(arc)==HIGH){d=1;}  // valid arc no found
  if (digitalRead(arc)==LOW){d=0;}   //valid arc found
  if (w == 0){digitalWrite(weld, LOW);} // welder pin off 
  if (w==1 && d==1){ //kill timer for program if no valid arc found
    if (lastChange <= micros()) {lastChange = micros();j=j+1;}
    if (j==pot5){Serial.println("weld fail, reset machine"); p=11;c=0;j=0; w=0;}
  } //may want to add a kill for welder as only kills the program

//e=digitalRead(pulse); //not sure why this works but below didnt
//Serial.println(e); serial plot confirmation
//doh, its syntax, (digitalRead(pulse == HIGH)) vs (digitalRead(arc)==HIGH)
  //if (digitalRead(pulse) == HIGH){e=1;} //pulse lock not found
  //if (digitalRead(pulse) == LOW){e=0;} //pulse found

  if( c == 1) { w=1; //tackweld mode
       if (d==0 && lastChange <= micros()) {lastChange = micros(); state = !state; state = !state;  i=i+1;} 
       if(i >= pot3){c=0;w=0;} 
  }

  if(c == 3) { w=1; //revolve weld mode
       if ( d==0 && (lastChange + pot2 <= micros())) { lastChange = micros(); state = !state; digitalWrite(steppin, state); state = !state;digitalWrite(steppin, state);i=i+1;}
       if(i == dlay2){c=0;w=0;}        
  }

  if(c == 5) { w=1; //revolve weld mode
       if ( d==0 && (lastChange + pot6 <= micros())) { lastChange = micros(); state = !state; digitalWrite(steppin, state); state = !state;digitalWrite(steppin, state);i=i+1;}
       if(i == dlay2){c=0;w=0;}        
  }


//traverse circuit
  if( c == 2) { //5 point 1/5rev
       if (lastChange + pot1 <= micros()) { lastChange = micros(); state = !state; digitalWrite(steppin, state); state = !state;digitalWrite(steppin, state);i=i+1;}
       if(i == dlay1){c=0;}        
  }

  if( c == 4) { //time to simulate weld arm transit between rings
       digitalWrite(dirpin, LOW); 
       if (lastChange + pot4 <= micros()) { lastChange = micros(); state = !state; digitalWrite(rad2, state); state = !state;digitalWrite(rad2, state);i=i+1;}
       if(i >= pot4){c=0;}        
  }

//start of automation process
   digitalRead(p);
   //start of automation
   if(p==1){a=1;}// defeats stuck button

   if( p == 2){ //tack weld
    if (b == 0){ //weld phase
     if (i == 0) {c=1;}
     if (c == 0){b=b+1; i=0;}
    }
     if( b == 1){ //move phase
       if (i == 0) {c=2;}
       if ( c == 0){p=p+1; i=0; b=0;
       Serial.println(p); //mute if not sim
       }   }}


   if( p == 3){ //tack weld
    if (b == 0){ //weld phase
     if (i == 0) {c=1;}
     if (c == 0){b=b+1; i=0;}
    }
     if( b == 1){ //move phase
       if (i == 0) {c=2;}
       if ( c == 0){p=p+1; i=0; b=0; 
       Serial.println(p); //mute if not sim
       }   }}


   if( p == 4){ //tack weld
    if (b == 0){  //weld phase
     if (i == 0) {c=1;}
     if (c == 0){b=b+1; i=0;}
    }
     if( b == 1){  //move phase
       if (i == 0) {c=2;}
       if ( c == 0){p=p+1; i=0; b=0; 
       Serial.println(p); //mute if not sim
       }   }}


   if( p == 5){ //tack weld
    if (b == 0){  //weld phase
     if (i == 0) {c=1;}
     if (c == 0){b=b+1; i=0;}
    }
     if( b == 1){  //move phase
       if (i == 0) {c=2;}
       if ( c == 0){p=p+1; i=0; b=0;
       Serial.println(p); //mute if not sim
       }   }}


   if( p == 6){ //tack weld
    if (b == 0){  //weld phase
     if (i == 0) {c=1;}
     if (c == 0){b=b+1; i=0;}
    }
     if( b == 1){  //move phase
       if (i == 0) {c=2;}
       if ( c == 0){p=p+1; i=0; b=0; 
       Serial.println(p); //mute if not sim
       }   }}


   if( p == 7 || p == 9){ //p6 is revolving weld
     if(b == 0){  //weld phase
       if (p==7 && i == 0) {c=3;}
       if (p==9 && i == 0) {c=5;}
       if (c == 0){ b=b+1;i=0;}
     }
     if( b == 1){ //decides if needs to do second radius or end
       if(digitalRead(transit)==LOW){p=p+3;b=0;}
       if ( c == 0){p=p+1; i=0; b=0; 
       Serial.println(p); //mute if not sim
       }   }}


   if( p == 8 || p == 10){ //p7 is arm transit
     if (i == 0 && b == 0) {c = 4;}
     if (c == 0 && b == 0){ b=b+1;i=0;}
     if( b == 1){ 
       if ( c == 0){p=p+1; i=0; b=0; 
       Serial.println(p); //mute if not sim
       }   }}


   if( p == 11) { p=0; a=0; digitalWrite(rad2,LOW); powerState = !powerState;}//rest

   }