#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 20, 4);


#define encoder_a 2         //encoder A = arduino pin 2
#define encoder_b 3         //encoder B = arduino pin 3
#define motor_step 4        //motor step = arduino pin 4
#define motor_direction 5   //motor direction = arduino pin 5
#define FirstButtonPin 6    //First Button Pin to arduino pin 6 
#define SecondtButtonPin 7  //Second Button Pin to arduino pin 7 
#define SelectionPin 8      //SelectionPin= arduino pin 8
#define LimitRightPin 9        //Right Limit switch  Pin to arduino pin 9 
#define LimitLeftPin 10        //Left Limit switch  Pin to arduino pin 10 
#define StartSwitchPin 11        //Start Switch Pin  Pin to arduino pin 11 
#define HomeSwitchPin 12        //HomeSwitchPin to arduino pin 12
#define ENpin 13          //Enable Pin to arduino pin 13

bool Button1 , Button2 , Selection, LimitSwitchR, LimitSwitchL , StartSwitch , HomeSwitch ;
short Ratio = 2 , counter = 0 , X = 0 , Y = 0 ;
volatile long motor_position, encoder;

void setup ()
{
  // Initialize LCD
  lcd.init();
  lcd.backlight();

  //set up the various outputs
  pinMode(motor_step, OUTPUT);
  pinMode(motor_direction, OUTPUT);
  pinMode(FirstButtonPin, INPUT_PULLUP);
  pinMode(SecondtButtonPin, INPUT_PULLUP);
  pinMode(LimitRightPin, INPUT_PULLUP);
  pinMode(LimitLeftPin, INPUT_PULLUP);
  pinMode(StartSwitchPin, INPUT_PULLUP);
  pinMode(HomeSwitchPin, INPUT_PULLUP);
  pinMode (ENpin,OUTPUT); digitalWrite(ENpin, LOW);

  pinMode(SelectionPin , INPUT);
  // then the encoder inputs
  pinMode(encoder_a, INPUT);
  pinMode(encoder_b, INPUT);
  digitalWrite(encoder_a, HIGH);
  digitalWrite(encoder_b, HIGH);
  // encoder pin on interrupt 0 (pin 2)
  attachInterrupt(0, encoderPinChangeA, CHANGE);
  // encoder pin on interrupt 1 (pin 3)
  attachInterrupt(1, encoderPinChangeB, CHANGE);
  encoder = 0;

}

void encoderPinChangeA()
{
  if (digitalRead(encoder_a) == digitalRead(encoder_b))
  {
    encoder--;

  }
  else
  {
    encoder++;

  }
}

void encoderPinChangeB()
{
  if (digitalRead(encoder_a) != digitalRead(encoder_b) )
  {
    encoder--;

  }
  else
  {
    encoder++;
  }
}

void Clockwise () {
  digitalWrite(motor_direction, HIGH);
  digitalWrite(motor_step, HIGH);
  digitalWrite(motor_step, LOW);
  counter++;
  encoder = 0;
  delay(100);
}

void Counterclockwise() {
  digitalWrite(motor_direction, LOW);
  digitalWrite(motor_step, HIGH);
  digitalWrite(motor_step, LOW);
  delay(100);
  counter--;
  encoder = 0;
  delay(100);
}

void loop()
{
  Button1 = digitalRead(FirstButtonPin);
  Button2 = digitalRead(SecondtButtonPin);
  Selection = digitalRead(SelectionPin);
  LimitSwitchR = digitalRead(LimitRightPin);
  LimitSwitchL = digitalRead(LimitLeftPin);
  StartSwitch = digitalRead(StartSwitchPin);
  HomeSwitch = digitalRead(HomeSwitchPin);



  if (Selection == LOW) {
    if (Button1 == LOW && LimitSwitchR == LOW) {
      Clockwise ();
    }
    else if (Button2 == LOW && LimitSwitchL == LOW) {
      Counterclockwise();
    }
  }

  else {
    if (encoder > 0 &&  LimitSwitchR == LOW)
    {
      delay(50);
      motor_position++;
      counter++;
      if (motor_position % Ratio == 0) {
        digitalWrite(motor_direction, HIGH);
        digitalWrite(motor_step, HIGH);
        digitalWrite(motor_step, LOW);

      }
      encoder = 0 ;
      if (motor_position % Ratio == 0) {
        motor_position = 0;
      }
    }


    else if (encoder < 0 && LimitSwitchL == LOW)
    {
      delay(50);
      motor_position++;
      counter--;
      if (motor_position % Ratio == 0) {
        digitalWrite(motor_direction, LOW);
        digitalWrite(motor_step, HIGH);
        digitalWrite(motor_step, LOW);
      }
      encoder = 0 ;

      if (motor_position % Ratio == 0) {
        motor_position = 0;
      }
    }

  }


  if ((StartSwitch == LOW && LimitSwitchR == LOW) || X == 1) {
      X = 1 ; Y = 2 ;
    Clockwise ();
  }
  else if ((HomeSwitch == LOW && LimitSwitchL == LOW) || Y == 1) {
      X = 2 ; Y = 1 ;
    Counterclockwise();
  }

if ( LimitSwitchR == HIGH){X = 2;}
if ( LimitSwitchL == HIGH){Y = 2;}

  lcd.setCursor(0, 1);
  lcd.print("counter:");
  lcd.setCursor(9, 1);
  lcd.print(counter);



}