#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27, 20, 4); // set the LCD address to 0x27 for a 16 chars and 2 line display


// pin assignments
const int STR_PIN = A3;
const int INC_PIN = A0;
const int DEC_PIN = A1;
const int STP_PIN = A2;

// Drivers Configuration
const int Y_microsteps = 400;
const int Z_microsteps = 400;

// Ball screw info
const int Y_mm_per_rev = 10;
const int Z_mm_per_rev = 10;

// Motors Configuration
float Y_spd = 50; // in mm per sec
float Z_spd = 50; // in mm per sec
float Y_acc = 25; // in mm per sec
float Z_acc = 25; // in mm per sec

// Home Configuration
const float Y_homingSpeedInMMPerSec = 10.0;
const float Z_homingSpeedInMMPerSec = 10.0;
const float Y_maxHomingDistanceInMM = 900;
const float Z_maxHomingDistanceInMM = 300;
const int Y_directionTowardHome = -1;        // direction to move toward limit switch: 1 goes positive direction, -1 backward
const int Z_directionTowardHome = -1;        // direction to move toward limit switch: 1 goes positive direction, -1 backward


// drill configuration in mm
int Y_step = 10;
int Z_safe = 10;
int Z_depth = 10;
int no_holes = 28;


bool moving = false;
int selection[] = {0, 0, 0};
int selection_level = 0;

void setup()
{
    // Start Serial
    Serial.begin(9600);

    // initialize the lcd
    lcd.init();
    lcd.backlight();

    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Main Menu");
    lcd.setCursor(0, 1);
    lcd.print("1: Start");

    // defining button pin conditions
    pinMode(STR_PIN, INPUT_PULLUP);
    pinMode(INC_PIN, INPUT_PULLUP);
    pinMode(DEC_PIN, INPUT_PULLUP);
    pinMode(STP_PIN, INPUT_PULLUP);
}

void loop() {
    // put your main code here, to run repeatedly:

    // Serial.println(digitalRead(STR_PIN));

    if (digitalRead(STR_PIN) == false)
    {
        while(digitalRead(STR_PIN) == false){}
        delay(100);
        change_level(1);
    }

    else if (digitalRead(STP_PIN) == false)
    {
        while(digitalRead(STP_PIN) == false){}
        delay(100);
        change_level(-1);
    }


    else if (digitalRead(INC_PIN) == false)
    {
        while(digitalRead(INC_PIN) == false){}
        delay(100);
        switch_mode(1);
    }

    else if (digitalRead(DEC_PIN) == false)
    {
        while(digitalRead(DEC_PIN) == false){}
        delay(100);
        switch_mode(-1);
    }

}