/*  @1,  0,    13,    11,    11,    12
    F%  Wmode Wtime  Stime  Rtime Stime */
#include <TimeLib.h>
time_t prevDisplay = 0;
unsigned long refTm, remTm, rotateTm;
int  mONa[]={500,3000,4000},mOFFa[]={500,2500,2500};
int  mON, mOFF,rotate;
long wTma[]={0,11000,16000,21000},rTma[]={0,10000,14000,17000};
long sTma[]={0,10000,15000,20000},fTma[]={10000,13000,15000,20000};
long  wTm, rTm, sTm, sTmL, fTm;
// drain time, wash time, rinse time, spin time, long spin time, fill time
long sWait=3000, sWaitL=12000, dTm=15000, dWait=3000;
bool fill_1, wash_1, drain_1, spin_1;
bool fill_2, wash_2, drain_2, spin_2;
bool fill_3, wash_3, drain_3, spin_3;
bool start, mRun, dON, finish, running;
bool pauseP,resumeP,initPause,critical;
String cmd = "@2,1,12,11,11,12";
      //      F%  Wmode Wtime  Stime  Rtime Stime 
void setup() {
Serial.begin(115200);
Serial.println("Compile OK!");
pinMode(19,OUTPUT);  //cw wash and rinse
pinMode(21, OUTPUT); //ccw
pinMode(25, OUTPUT); //drain
pinMode(26, OUTPUT); // fill
pinMode(27, INPUT_PULLUP);
pinMode(5, INPUT_PULLUP);
init();
}

void cw(int x){
  digitalWrite(21,x);
}
void ccw(int x){
  digitalWrite(19,x);
}
void drn(int x) {
  digitalWrite(25,x);
}
void fl(int x) {
  digitalWrite(26,x);
}
bool wash(long x){
  if  (start)  {
    Serial.println("wash start "+String(x));
    rotate=1; refTm=millis(); cw(1);
    rotateTm=millis(); start  = false; mRun=true;}
  if (millis() - refTm < x and mRun) {
  if (rotate==1 and millis()-rotateTm>mON) {
    rotate=2 ; rotateTm=millis(); cw(0);}
  else if (rotate==2 and millis()-rotateTm >mOFF) {
    rotate=3 ; rotateTm=millis(); ccw(1);}
  else if (rotate==3 and millis()-rotateTm >mON)  {
    rotate=4 ; rotateTm=millis(); ccw(0);}
  else if (rotate==4 and millis()-rotateTm >mOFF) {
    rotate=1 ; rotateTm=millis(); cw(1);}
  }
  else if (millis() - refTm > x and mRun) {
    Serial.println("motor off - motor wait "+String(sWait));
    ccw(0);cw(0); mRun=false; refTm=millis();critical=1;}
  if (millis() - refTm > sWait and !mRun) {
    Serial.println("wash end");
    finish=true; start=true; }
  return finish;
}
bool spin(long x) {
  if  (start)  {
    start = false; cw(1); refTm=millis(); mRun=1; 
    Serial.println("spin start "+String(x));
    }
  else if (millis() - refTm > x and mRun) {
    Serial.println("motor off - spin wait "+String(sWaitL));
    cw(0); refTm=millis(); mRun=false; critical=true;}
  else if (millis() - refTm > sWaitL and !mRun) {
    Serial.println("drain close - spin end");
    start=true; finish=true; drn(0);}
  return finish;
}
bool drain() {
  if  (start)  {
    refTm=millis(); drn(1); start  = false; dON=true;}
  else if (millis() - refTm > dTm and dON) {
    Serial.println("drain wait "+String(dWait));
    refTm=millis(); dON=false; critical=1;}
  else if (millis() - refTm > dWait and !dON) {
    Serial.println("Drain End");
    start=true; finish=true;}
  return finish;
}
bool fill() {
  if  (start)  {
    Serial.println("valve open/drain closed - fill start "+String(fTm));
    refTm=millis(); drn(0); fl(1); start  = false;}
  if (millis() - refTm > fTm) {
    Serial.println("valve closed - fill end");
    fl(0); start=true; finish=true;}
  return finish;
}
void display(String s, long n) {
  int pr=(double)(millis()-refTm)/n*100;
  if (now() != prevDisplay) {prevDisplay = now();
    Serial.print(s);Serial.print(pr);Serial.println("%");}
}
void spinTwo(int a) {
  if (spin(a)) {critical=0; spin_2=false; finish=false; drn(0);}
  else if (mRun) {	display("Spin Two : ",sTmL);}
  else {display("Spindown: ",sWaitL);}
}
void drainTwo(){
  if (drain()) {drain_2=false; finish=false; critical=0;}
  if (dON){display("Drain Two : ",dTm);}
}
void washTwo(int a) {
  if (wash(a)) {critical=0; wash_2 =false; finish=false;}
  if (mRun) {display("Rinse : ",rTm);}
}
void fillTwo() {
  if (fill()) {fill_2 =false; finish=false;}
    display("Fill Two : ",fTm);
}
void spinOne(int a) {
  if (spin(a)) {critical=0; spin_1=false; finish=false; drn(0);}
  else if (mRun) {	display("Spin One : ",sTm);}
  else {display("Spindown: ",sWaitL);}
}
void drainOne(){
  if (drain()) {drain_1=false; finish=false;critical=0;}
  if (dON){display("Drain One : ",dTm);}
}
void washOne(int a) {
  if (wash(a)) {critical=0; wash_1 =false; finish=false;}
  if (mRun) {display("Wash : ",wTm);}
}
void fillOne() {
  if (fill()) {fill_1 =false; finish=false;}
    display("Fill One : ",fTm);
}
void init(){
  start   = 0; 
  fill_1  = 0; wash_1  = 0; drain_1 = 0; spin_1  = 0;
  fill_2  = 0; wash_2  = 0; drain_2 = 0; spin_2  = 0;
  fill_3  = 0; wash_3  = 0; drain_3 = 0; spin_3  = 0;
}
void start_(){
  //  @1, 0, 13, 11, 11, 12
  start   = 1;
  fill_1  = cmd.substring(5,6).toInt();
  fTm     = fTma[cmd.substring(1,2).toInt()];
  mON     = mONa[cmd.substring(3,4).toInt()];
  mOFF    = mOFFa[cmd.substring(3,4).toInt()];
  wash_1  = fill_1;
  wTm     = wTma[cmd.substring(6,7).toInt()];
  drain_1 = cmd.substring(8,9).toInt();
  spin_1  = drain_1;
  sTm     = sTma[cmd.substring(9,10).toInt()];
  fill_2  = cmd.substring(11,12).toInt();
  wash_2  = fill_2;
  rTm     = rTma[cmd.substring(12,13).toInt()];
  drain_2 = cmd.substring(14,15).toInt();
  spin_2  = drain_2;
  sTmL    = sTma[cmd.substring(15,16).toInt()];  
}
void pauseProg(){
  if (initPause){
    remTm=millis()-refTm-1000; initPause=0;
  if (fill_1)       {fl(0);}
  else if (wash_1)  {cw(0);ccw(0);}
  else if (drain_1) { drn(0);}
  else if (spin_1)  {cw(0);}
  else if (fill_2)  {fl(0);}
  else if (wash_2)  {cw(0);ccw(0);}
  else if (drain_2) { drn(0);}
  else if (spin_2)  {cw(0);}
}
}
void resumeProg(){
  Serial.println("resumming---");
  resumeP=0; refTm=millis()-remTm;
  if      (fill_1)  {fl(1);}
  else if (wash_1)  {rotate=1;}
  else if (drain_1) {drn(1);}
  else if (spin_1)  {cw(1);}
  else if (fill_2)  {fl(1);}
  else if (wash_2)  {rotate=1;}
  else if (drain_2) {drn(1);}
  else if (spin_2)  {cw(1);}
}
void checkPause(){
  if (critical) return;
  if (!digitalRead(5)) {
    pauseP=!pauseP;
    delay(1000);
  if (pauseP) {Serial.println("pause"); initPause=1;}
  else {Serial.println("resume"); resumeP=1;}
  }
}
void checkStart(){
  if (running) return;
  if (!digitalRead(27)) {
    start_();running=true;
  }
}
void runCycle() {
  if        (pauseP)   pauseProg();
  else if   (resumeP)  resumeProg();
  else if   (fill_1)   fillOne();
  else if   (wash_1) 	 washOne(wTm);
  else if   (drain_1)	 drainOne();
  else if   (spin_1)   spinOne(sTm);
  else if   (fill_2)   fillTwo();
  else if   (wash_2)   washTwo(rTm);
  else if   (drain_2)  drainTwo();
  else if   (spin_2)   spinTwo(sTmL);
  else                 return;
}
void loop() {
  runCycle();
  delay(10); // this speeds up the simulation
  checkPause(); checkStart();
}