#include <EncoderButton.h>
#include<LiquidCrystal_I2C.h>
#include<Wire.h>


/**
   Instatiate an EncoderButton.
   For Arduino Uno, the hardware interrupts are pins 2 & 3
   For Teensy, you can use any digital pin.
*/
EncoderButton firstEncoderButton(3, 2, 4);
EncoderButton button1(4);




LiquidCrystal_I2C lcd(0x27, 20, 4);

const int motorPin = 5;
int pwmValue = 0;
int increment ;
const int led = 13;
int pwm = 0;
int click = 0;
int pwmPer = 0;






int count = 0;
unsigned long currentTime, previousTime;
float estimatedAngularVelocity = 0;
float K = 0.1; // experimentally determined constant
float B = 0.1; // experimentally determined constant
int RPM = 3600;
float speed = 0;
float lastSpeed = 0;


/**
   A function to handle the first encoder 'encoder' event
*/
void onFirstEncoder(EncoderButton& eb) {

  Serial.print("first encoder incremented by: ");
  Serial.println(eb.increment());
  Serial.print("first encoder position is: ");
  Serial.println(eb.position());

  increment = eb.position();
  Serial.println(increment);

  if (pwm == 1) {
    pwmValue = map((increment * 2), 0, 100, 0, 255);
    pwmValue = constrain(pwmValue, 0, 255);
    analogWrite(motorPin, pwmValue);
    Serial.println(pwmValue);
  } else {
    analogWrite(motorPin, 0);

  }

}

/**
   A function to handle the first encoder 'clicked' event
*/
void onFirstButtonClicked(EncoderButton& eb) {
  Serial.print("First button clickCount: ");
  Serial.println(eb.clickCount());
  click = eb.clickCount();

  if (click == 2) {
    digitalWrite(led, HIGH);
    pwm = 1;
  } else {
    digitalWrite(led, LOW);
    pwm = 0;
  }



}

void onButton1LongPress(EncoderButton& eb) {
  Serial.print("button1 longPressCount: ");
  Serial.println(eb.longPressCount());
  count = 0;
}


void setup() {
  // put your setup code here, to run once:

  currentTime = millis();
  Serial.begin(9600);
  delay(500);
  Serial.println("EncoderButton multiple encoder/button example");

  //Link the event(s) to your function
  firstEncoderButton.setEncoderHandler(onFirstEncoder);
  firstEncoderButton.setClickHandler(onFirstButtonClicked);
  button1.setLongPressHandler(onButton1LongPress, true); //Second arg means repeat the long click

  // set up the LCD
  lcd.init();
  lcd.backlight();

  // display initial message on the LCD
  lcd.clear();
  lcd.print("Encoder with PWM");
  lcd.setCursor(0, 1);
  lcd.print("Press HOLD CLR CNT");
  lcd.setCursor(0, 2);
  lcd.print("2click to ON");
  lcd.setCursor(0, 3);
  lcd.print("1click to OFF");
  delay(4000);
  lcd.clear();
}

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

  // You must call update() for every defined EncoderButton.
  firstEncoderButton.update();
  button1.update();

  //this line of code is to hold rotary encoder value into the spacific range
  if (pwmValue <= 0) {
    firstEncoderButton.resetPosition(0);
  } else if (pwmValue >= 255) {
    firstEncoderButton.resetPosition(50);
  }


  lcd.setCursor(0, 0);
  lcd.print("Switch: ");
  lcd.print(pwm ? "ON " : "OFF");
  lcd.setCursor(0, 1);
  lcd.print("PWM:");
  pwmPer = pwmValue * 0.393;
  lcd.println(pwmPer);lcd.print(" ");
  lcd.setCursor(0, 2);
  lcd.print("CNT:"); lcd.println(count);lcd.print(" ");




  if (pwm == 1) {

    speed = 0.01 * pwmPer;

    if (millis() - currentTime >= 1000) { // check if one second has passed
    Serial.print("timeP: ");
      Serial.println(millis() - currentTime);
      speed = 0.01 * pwmPer;
      speed = (millis() - currentTime)*speed;
      speed = speed/1000;
      lastSpeed = speed + lastSpeed;
      Serial.print("Lspeed: ");
      Serial.println(lastSpeed);
      if(lastSpeed >= 0.99  ){
        count++;
        lastSpeed = 0;
      }
      Serial.print("speed: ");
      Serial.println(speed);
      currentTime = millis();
      previousTime = millis();

    }
  }


}