#include <AccelStepper.h>
#include <Wire.h>
#include <Adafruit_SSD1306.h>
#include <Adafruit_GFX.h>
#include <Encoder.h>
#include <HX711.h>

// OLED display
Adafruit_SSD1306 display(4);

// Rotary encoder
Encoder myEnc(3, 2);

// HX711 Load cell
HX711 scale;

// Stepper motor
AccelStepper stepper(1, 8, 9);

int stepsPerRevolution = 200;
float mmPerRevolution = 5.08;
float mmPerStep = mmPerRevolution / stepsPerRevolution;
float targetPosition = 0;
float currentPosition = 0;

void setup() {
  // OLED display
  display.begin(SSD1306_SWITCHCAPVCC, 0x3C);
  display.clearDisplay();
  display.display();
  display.setTextSize(1);
  display.setTextColor(WHITE);
  display.setCursor(0,0);

  // Rotary encoder
  // myEnc.setSensitivity(1); // remove this line
  
  // HX711 Load cell
  scale.begin(A3,A2);
  scale.set_scale();
  
  // Stepper motor
  stepper.setMaxSpeed(1000);
  stepper.setAcceleration(500);
  stepper.setSpeed(1000);
}

void loop() {
  // Read rotary encoder
  targetPosition = myEnc.read()*0.25;
  stepper.moveTo(targetPosition);
  stepper.run();

  // Read HX711 Load cell
  float weight = scale.get_units();

  // Display position and weight on OLED display
  display.clearDisplay();
  display.setCursor(0,0);
  display.print("Height: ");
  display.print(targetPosition * mmPerStep, 3);
  display.print("mm");
  display.setCursor(0,10);
  display.print("Force: ");
  display.print(weight * 0.238 * 0.9807 * 0.1);
  display.print("N");
  display.display();
}