#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 16, 2);
//Encorder Switch pin mode
int CLK = 2;
int DT = 3;
int SW = 4;
//closer sensor
int IR = 5;
// Buzzer
int BUZZ = 6;
// Motor
int ENABLE = 7;
int STEP = 8;
int DIRECTION = 9;
// LED
int R = 10;
int G = 11;
int B = 12;
//Functions
void encoder();
void menu();
void begin_menu();
void motor();
void motor_test();
void emergency();
void heatbed_display();
void heatbed_play();
//Var
int old_clk = 0;
int old_dt = 0;
int old_sw = 0;
int dt_in = 0;
int clk_in = 0;
int sw_in = 0;
int encoder_result = 0;
int sw_result = 0;
int menu_page = 0;
float angle = 0;
int heatbed = 0;
int heatbed_10 = 0;
int heatbed_1 = 0;
int heatbed_change = 0;
int heatbed_2 = 0;
int heatbed_20 = 0;
int heatbed_sw = 0;
int ir_sensor = 0;
int ir_count = 0;
int buzz_count = 0;
unsigned int heatbed_timer = 0;
unsigned int buzz_timer = 0;
unsigned int emergency_timer = 0;
int timer_count = 0;
int timer = 0;
void setup ()
{
  pinMode (IR, INPUT_PULLUP);
  pinMode (DIRECTION, OUTPUT);
  pinMode (ENABLE, OUTPUT);
  pinMode (STEP, OUTPUT);
  pinMode (R, OUTPUT);
  pinMode (G, OUTPUT);
  pinMode (B, OUTPUT);
  pinMode (CLK, INPUT);
  pinMode (DT, INPUT);
  pinMode (SW, INPUT);
  pinMode (BUZZ, INPUT);
  begin_menu();
}
void loop()
{
  ir_sensor=digitalRead(IR); //
  timer++;
  encoder();
  if(menu_page==211)
  {
    angle=angle+(encoder_result*1.8);
    if(sw_result==1)motor_test();
  }
  if(menu_page==200)
  {
    angle=0;
    digitalWrite(STEP, LOW);
  }
  if(menu_page==311)
  {
    heatbed==heatbed+encoder_result;
    if(heatbed>30)heatbed=30;
    if(heatbed<0)heatbed=0;
  }
  if(menu_page==300)
  {
    heatbed=0;
    heatbed_timer=0;
    heatbed_sw=0;
    buzz_timer = 0;
    digitalWrite(R,LOW);
  }
  if(heatbed_sw==1)heatbed_play();
  if(menu_page==410|menu_page==420)emergency();
  {
  heatbed_display();
  delay(1);
  menu();
  }
}
void motor()
{
  digitalWrite(STEP,HIGH);
  delayMicroseconds(1000);
  digitalWrite(STEP, LOW);
  delayMicroseconds(1000);
}
void emergency()
{
  emergency_timer++;
  if(ir_sensor==1)ir_count++;
  else if(ir_sensor==0)ir_count=0;
  if(ir_count==0)
  {
    lcd.print("DANGER");
    if(buzz_count<5)
    {
      if((emergency_timer%20)<11)
      {
        timer_count=1;
        digitalWrite(BUZZ, HIGH);
      }
      else if((emergency_timer%20)>10)
      {
      digitalWrite(BUZZ,LOW);
      timer_count =0;
      }
    }
    else
    {
      digitalWrite(BUZZ,LOW);
    }
    digitalWrite(STEP,LOW);
  }
  else if(ir_count>5)
  {
    timer_count=0;
    digitalWrite(BUZZ,LOW);
    lcd.print("STABLE");
    motor();
    buzz_count=0;
  }
}
void heatbed_display()
{
  heatbed_10=heatbed/10;
  heatbed_1=heatbed%10;
  heatbed_20=heatbed_change/10;
  heatbed_2=heatbed_change%10;
}
void heatbed_play()
{
  if(heatbed_sw == 1)
  {
    heatbed_timer++;
  }
  if(heatbed_change < heatbed)
  {
    if((heatbed_timer%30)>28)heatbed_change++;
  }
  if(heatbed_change==heatbed)
  {
    timer ++;
    digitalWrite(DIRECTION, LOW);
    motor();
    if((buzz_timer%30)<10)
    {
      digitalWrite(R,HIGH);
      digitalWrite(G,LOW);
      digitalWrite(B,LOW);
    }
    if((buzz_timer%30)>10&&(buzz_timer%30)<20)
    {
      digitalWrite(R,LOW);
      digitalWrite(G,HIGH);
      digitalWrite(B,LOW);
    }
    if((buzz_timer%30)>20)
    {
      digitalWrite(R,LOW);
      digitalWrite(G,LOW);
      digitalWrite(B,HIGH);
    }
  }
}





void begin_menu()
{
  lcd.init();
  lcd.backlight();
  lcd.setCursor(0,0);
  lcd.print("3D PRINTER  A001");
  lcd.setCursor(0,1);
  lcd.print("READY TO DRIVE");
  delay(5000);
}




void encoder()
{
  clk_in=digitalRead(CLK);
  dt_in=digitalRead(DT);
  sw_in=digitalRead(SW);
  if(old_clk==1 && clk_in == 0)
  {
    if(dt_in == 1) 
    {
      encoder_result = 1;
    }
  }
  else if(old_dt == 1 && dt_in == 0)
  {
    if(clk_in == 1) 
    {
      encoder_result = -1;
    }
  }
  else encoder_result=0;

  if(old_clk == 1 && sw_in == 0)
  {
    sw_result = 1;
  }
  else sw_result = 0;
  old_clk=clk_in;
  old_dt=dt_in;
  old_sw=sw_in;
}






void motor_test ()
{
  if(angle>0)
  {
    digitalWrite(DIRECTION, LOW);
    for(int i=0;i<(angle/1.8);i++)
    {
      motor();
    }
  }
  if(angle<0)
  {
    digitalWrite(DIRECTION, HIGH);
    for(int i=(angle/1.8); i>0;i++)
    {
    motor();
    }
  }
}









void menu()
{
  switch(menu_page)
  {
    case 0:
    lcd.setCursor(0,0);
    lcd.print("X: Y:    A001");  //16칸 까지만 제한
    lcd.setCursor(0,1);
    lcd.print("3D PRINTER READY");
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=100;
    }
    break;

    case 100:
    lcd.setCursor(0,0);
    lcd.print(">EXIT"); //16칸 까지만 제한
    lcd.setCursor(0,1);
    lcd.print(" MOTOR TEST");
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=200;
    }
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=400;
    }
    if(encoder_result==-1)
    {
      lcd.clear();
      menu_page=400;
    }
    break;

    case 200:
    lcd.setCursor(0,0);
    lcd.print(" EXIT");
    lcd.setCursor(0,1);
    lcd.print(">MOTOR TEST");
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=210;
    }
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=300;
    }
    if(encoder_result==-1)
    {
      lcd.clear();
      menu_page=100;
    }
    break;

    case 210:
    lcd.setCursor(0,0);
    lcd.print(">ANGLE:");
    lcd.setCursor(9,0);
    lcd.print(angle);
    lcd.setCursor(0,1);
    lcd.print(" RETURN");
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=211;
    }
    break;

    case 220:
    lcd.setCursor(0,0);
    lcd.print("ANGLE:");
    lcd.setCursor(9,0);
    lcd.print(angle);
    lcd.setCursor(0,1);
    lcd.print(">RETURN");
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=211;
    }
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=220;
    }
    if(encoder_result==-1)
    {
      lcd.clear();
      menu_page=220;
    }
    break;


    case 300:
    lcd.setCursor(0,0);
    lcd.print(" MOTOR TEST");
    lcd.setCursor(0,1);
    lcd.print(">HEATING BED");
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=200;
    }
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=400;
    }
    if(encoder_result==-1)
    {
      lcd.clear();
      menu_page=200;
    }
    break;


    case 310:
    lcd.setCursor(0,0);
    lcd.print(">HEATING: ");
    lcd.setCursor(11,0);
    lcd.print("heatbed_20");
    lcd.setCursor(12,0);
    lcd.print("heatbed_2");
    lcd.setCursor(13,0);
    lcd.print("/");
    lcd.setCursor(14,0);
    lcd.print("heatbed_10");
    lcd.setCursor(15,0);
    lcd.print("heatbed_1");
    lcd.setCursor(0,1);
    lcd.print(" HEATING BED");
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=311;
      heatbed_sw=1;
    }
    break;


    case 311:
    lcd.setCursor(0,0);
    lcd.print(" HEATING: ");
    lcd.setCursor(11,0);
    lcd.print("heatbed_20");
    lcd.setCursor(12,0);
    lcd.print("heatbed_2");
    lcd.setCursor(13,0);
    lcd.print("/");
    lcd.setCursor(14,0);
    lcd.print("heatbed_10");
    lcd.setCursor(15,0);
    lcd.print("heatbed_1");
    lcd.setCursor(0,1);
    lcd.print(">RETURN");
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=300;
      heatbed_sw=1;
    }
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=310;
    }
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=310;
    }
    break;


    case 400:
    lcd.setCursor(0,0);
    lcd.print(" HEATING BED");
    lcd.setCursor(0,1);
    lcd.print(">EMERGENCY SET");
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=410;
    }
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=500;
    }
    if(encoder_result==-1)
    {
      lcd.clear();
      menu_page=300;
    }
    break;


    case 410:
    digitalWrite(DIRECTION,LOW);
    lcd.setCursor(0,0);
    lcd.print(" RETURN");
    lcd.setCursor(0,1);
    lcd.print(">STATE");
    lcd.setCursor(8,0);
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=420;
    }
    if(encoder_result==-1)
    {
      lcd.clear();
      menu_page=420;
    }
    break;


    case 420:
    digitalWrite(DIRECTION,LOW);
    lcd.setCursor(0,0);
    lcd.print(" RETURN");
    lcd.setCursor(0,1);
    lcd.print(">STATE");
    lcd.setCursor(8,0);
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=400;
    }
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=410;
    }
    if(encoder_result==-1)
    {
      lcd.clear();
      menu_page=410;
    }
    break;


    case 500:
    lcd.setCursor(0,0);
    lcd.print(" EMERGENCY SET");
    lcd.setCursor(0,1);
    lcd.print(">EXIT");
    if(sw_result==1)
    {
      lcd.clear();
      menu_page=0;
    }
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=200;
    }
    if(encoder_result==1)
    {
      lcd.clear();
      menu_page=400;
    }
    break;


  }
}