int E = 0;
int E2 = 0;
int E3 = 0;
int E4;

#include <Wire.h>
#include <LiquidCrystal_I2C_Hangul.h>

LiquidCrystal_I2C_Hangul lcd(0x27,16,2);

#include <Encoder.h>
Encoder encoder_1(3,2);

 long stepn910 = 0;
 long spedn910 = 0;


void setup() {
  lcd.init();
 lcd.backlight();

  pinMode(4, INPUT_PULLUP);
   pinMode(9, OUTPUT);
   pinMode(10, OUTPUT);

  pinMode(5, INPUT_PULLUP);
  pinMode(7, INPUT_PULLUP);
  pinMode(6, INPUT_PULLUP);
  pinMode(8, INPUT_PULLUP);
    lcd.setCursor(0, 0);
   lcd.print("Polosenue  0  mm");
   lcd.setCursor(0, 1);
   lcd.print("DBugati Ha 0  mm");

}

void loop() {
    E = (encoder_1.read()/4);
    E = (constrain(E,(-60),60));
    if (E > E2) {
      lcd.setCursor(11, 1);
       lcd.print("   ");
       lcd.setCursor(11, 1);
       lcd.print(E);
       }
    if (E < E2) {
      lcd.setCursor(11, 1);
       lcd.print("   ");
       lcd.setCursor(11, 1);
       lcd.print(E);
       }
    E2 = (encoder_1.read()/4);
    delay(7);
    if (digitalRead(4) == 0) {
         stepn910 = (E * 200);
       spedn910 = 2000;
         if (stepn910 < 0 && spedn910 > 0){
           stepn910 = stepn910*-1;
           for (int count = 0; count < stepn910; count++) {
             digitalWrite(9, 0);
             digitalWrite(10, 1);
             delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
             digitalWrite(10, 0);
             delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
           }
          stepn910 = stepn910*-1;
            }
         if (stepn910 > 0 && spedn910 > 0){
           for (int count = 0; count < stepn910; count++) {
             digitalWrite(9, 1);
             digitalWrite(10, 1);
             delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
             digitalWrite(10, 0);
             delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
           }
            }
         if (stepn910 == 0 | spedn910 == 0){
             digitalWrite(9, 0);
             digitalWrite(10, 0);
            }

      E3 = E + E3;
      encoder_1.write(0);
    }
    delay(7);
    if (E3 > E4) {
      lcd.setCursor(11, 0);
       lcd.print("   ");
       lcd.setCursor(11, 0);
       lcd.print(E3);
       }
    if (E3 < E4) {
      lcd.setCursor(11, 0);
       lcd.print("   ");
       lcd.setCursor(11, 0);
       lcd.print(E3);
       }
    E4 = E + E3;
    delay(7);
    if (digitalRead(5) == 0) {
      lcd.setCursor(11, 1);
       lcd.print("Dom  ");
       do {
           stepn910 = 1;
         spedn910 = 2000;
           if (stepn910 < 0 && spedn910 > 0){
             stepn910 = stepn910*-1;
             for (int count = 0; count < stepn910; count++) {
               digitalWrite(9, 0);
               digitalWrite(10, 1);
               delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
               digitalWrite(10, 0);
               delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
             }
            stepn910 = stepn910*-1;
              }
           if (stepn910 > 0 && spedn910 > 0){
             for (int count = 0; count < stepn910; count++) {
               digitalWrite(9, 1);
               digitalWrite(10, 1);
               delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
               digitalWrite(10, 0);
               delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
             }
              }
           if (stepn910 == 0 | spedn910 == 0){
               digitalWrite(9, 0);
               digitalWrite(10, 0);
              }

      } while (digitalRead(7) == 1);
      E3 = 0;
      lcd.setCursor(11, 1);
       lcd.print("0  mm");
       }
    if (digitalRead(6) == 0) {
      lcd.setCursor(11, 1);
       lcd.print("Park ");
       do {
           stepn910 = (-1);
         spedn910 = 2000;
           if (stepn910 < 0 && spedn910 > 0){
             stepn910 = stepn910*-1;
             for (int count = 0; count < stepn910; count++) {
               digitalWrite(9, 0);
               digitalWrite(10, 1);
               delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
               digitalWrite(10, 0);
               delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
             }
            stepn910 = stepn910*-1;
              }
           if (stepn910 > 0 && spedn910 > 0){
             for (int count = 0; count < stepn910; count++) {
               digitalWrite(9, 1);
               digitalWrite(10, 1);
               delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
               digitalWrite(10, 0);
               delayMicroseconds(map(spedn910, 100, 1, 4000, 10000));
             }
              }
           if (stepn910 == 0 | spedn910 == 0){
               digitalWrite(9, 0);
               digitalWrite(10, 0);
              }

      } while (digitalRead(8) == 1);
      E3 = 0;
      lcd.setCursor(11, 1);
       lcd.print("0  mm");
       }

}