/*
Pulse Settings:
      1600 Steps(Pulse) per Revolution
*/

#include <Keypad.h>

const uint8_t ROWS = 4;
const uint8_t COLS = 4;

char keys[ROWS][COLS] = {
  { '1', '2', '3', 'A' },
  { '4', '5', '6', 'B' },
  { '7', '8', '9', 'C' },
  { '*', '0', '#', 'D' }
};

uint8_t colPins[COLS] = { 5, 4, 3, 2 }; // Pins connected to C1, C2, C3, C4
uint8_t rowPins[ROWS] = { 9, 8, 7, 6 }; // Pins connected to R1, R2, R3, R4

Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);

int dirPin = 10;
int pulsePin = 11;

char key;
int pulse_width = 500;  // set pulse width (speed)

unsigned int time = 60; // set rotational time in second (60s = 1m)
unsigned int forward_time_1mm =  (time * 1000)/800;
unsigned int forward_time_2mm =  (time * 1000)/1600;
unsigned int forward_time_3mm =  (time * 1000)/2400; 
unsigned int forward_time_10mm = (time * 1000)/8000; 
unsigned int forward_time_20mm = (time * 1000)/16000; 
unsigned int forward_time_50mm = (time * 1000)/40000; 

unsigned int reverse_time_10mm = (time * 1000)/8000; 
unsigned int reverse_time_20mm = (time * 1000)/16000; 
unsigned int reverse_time_50mm = (time * 1000)/40000; 

void setup() {
  Serial.begin(9600);
  pinMode(dirPin, OUTPUT);
  pinMode(pulsePin, OUTPUT);

  digitalWrite(dirPin, LOW);
  delay(100);
}

void loop() {
  key = keypad.getKey();

  if (key != NO_KEY) {
    Serial.println(key);

    switch(key){
      case '1':
      forwardAt1mm();
      break;

      case '2':
      forwardAt2mm();
      break;

      case '3':
      forwardAt3mm();
      break;

      case '4':
      forwardAt10mm();
      break;

      case '5':
      forwardAt20mm();
      break;

      case '6':
      forwardAt50mm();
      break;

      case '*':
      reverseAt10mm();
      break;

      case '0':
      reverseAt20mm();
      break;

      case '#':
      reverseAt50mm();
      break;

      default:
        // Stop the motor if any other key is pressed
        digitalWrite(pulsePin, LOW);
        break;
    }
  }
}


void forwardAt1mm(){
// Move forward at 1 mm/minute
      digitalWrite(dirPin, HIGH);
      for(int i=0; i<800; i++){
        digitalWrite(pulsePin, HIGH);
        delayMicroseconds(pulse_width);
        digitalWrite(pulsePin, LOW);
        //800 pulses at 60,000 milliseconds
        //So, 1 pulse 60000/800 = 75 milliseconds
        delay(forward_time_1mm);

        key = keypad.getKey();
        if(key != NO_KEY) {
          if(key == '1'){
            forwardAt1mm();
            break;
          }
          else if(key == '2'){
            forwardAt2mm();
            break;
          }
          else if(key == '3'){
            forwardAt3mm();
            break;
          }
          else if(key == '4'){
            forwardAt10mm();
            break;
          }
          else if(key == '5'){
            forwardAt20mm();
            break;
          }
          else if(key == '6'){
            forwardAt50mm();
            break;
          }
          else if(key == '*'){
            reverseAt10mm();
            break;
          }
          else if(key == '0'){
            reverseAt20mm();
            break;
          }
          else if(key == '#'){
            reverseAt50mm();
            break;
          }
          else if(key == '7' || key == '8' || key == '9' || key == 'A' || key == 'B' || key == 'C' || key == 'D'){
            break;
          }
        }
      }
}

void forwardAt2mm(){
// Move forward at 2 mm/minute
      digitalWrite(dirPin, HIGH);

      for(int i=0; i<1600; i++){
        digitalWrite(pulsePin, HIGH);
        delayMicroseconds(pulse_width);
        digitalWrite(pulsePin, LOW);
        //1600 pulses at 60,000 milliseconds
        //So, 1 pulse 60000/1600 = 37.5 milliseconds
        delay(forward_time_2mm);
        key = keypad.getKey();
        if(key != NO_KEY) {
          if(key == '1'){
            forwardAt1mm();
            break;
          }
          else if(key == '2'){
            forwardAt2mm();
            break;
          }
          else if(key == '3'){
            forwardAt3mm();
            break;
          }
          else if(key == '4'){
            forwardAt10mm();
            break;
          }
          else if(key == '5'){
            forwardAt20mm();
            break;
          }
          else if(key == '6'){
            forwardAt50mm();
            break;
          }
          else if(key == '*'){
            reverseAt10mm();
            break;
          }
          else if(key == '0'){
            reverseAt20mm();
            break;
          }
          else if(key == '#'){
            reverseAt50mm();
            break;
          }
          else if(key == '7' || key == '8' || key == '9' || key == 'A' || key == 'B' || key == 'C' || key == 'D'){
            break;
          }
        }
      }
}

void forwardAt3mm(){
// Move forward at 3 mm/minute
      digitalWrite(dirPin, HIGH);

      for(int i=0; i<2400; i++){
        digitalWrite(pulsePin, HIGH);
        delayMicroseconds(pulse_width);
        digitalWrite(pulsePin, LOW);
        //2400 pulses at 60,000 milliseconds
        //So, 1 pulse 60000/2400 = 25 milliseconds
        delay(forward_time_3mm);
        key = keypad.getKey();
        if(key != NO_KEY) {
          if(key == '1'){
            forwardAt1mm();
            break;
          }
          else if(key == '2'){
            forwardAt2mm();
            break;
          }
          else if(key == '3'){
            forwardAt3mm();
            break;
          }
          else if(key == '4'){
            forwardAt10mm();
            break;
          }
          else if(key == '5'){
            forwardAt20mm();
            break;
          }
          else if(key == '6'){
            forwardAt50mm();
            break;
          }
          else if(key == '*'){
            reverseAt10mm();
            break;
          }
          else if(key == '0'){
            reverseAt20mm();
            break;
          }
          else if(key == '#'){
            reverseAt50mm();
            break;
          }
          else if(key == '7' || key == '8' || key == '9' || key == 'A' || key == 'B' || key == 'C' || key == 'D'){
            break;
          }
        }
      }
}


void forwardAt10mm(){
  // Move forward at 10 mm/minute
      digitalWrite(dirPin, HIGH);

      for(int i=0; i<8000; i++){
        digitalWrite(pulsePin, HIGH);
        delayMicroseconds(pulse_width);
        digitalWrite(pulsePin, LOW);
        //8000 pulses at 60,000 milliseconds
        //So, 1 pulse 60000/8000 = 7.5 milliseconds
        delay(forward_time_10mm);
        key = keypad.getKey();
        if(key != NO_KEY) {
          if(key == '1'){
            forwardAt1mm();
            break;
          }
          else if(key == '2'){
            forwardAt2mm();
            break;
          }
          else if(key == '3'){
            forwardAt3mm();
            break;
          }
          else if(key == '4'){
            forwardAt10mm();
            break;
          }
          else if(key == '5'){
            forwardAt20mm();
            break;
          }
          else if(key == '6'){
            forwardAt50mm();
            break;
          }
          else if(key == '*'){
            reverseAt10mm();
            break;
          }
          else if(key == '0'){
            reverseAt20mm();
            break;
          }
          else if(key == '#'){
            reverseAt50mm();
            break;
          }
          else if(key == '7' || key == '8' || key == '9' || key == 'A' || key == 'B' || key == 'C' || key == 'D'){
            break;
          }
        }
      }
}

void forwardAt20mm(){
  // Move forward at 20 mm/minute
      digitalWrite(dirPin, HIGH);

      for(int i=0; i<16000; i++){
        digitalWrite(pulsePin, HIGH);
        delayMicroseconds(pulse_width);
        digitalWrite(pulsePin, LOW);
        //16000 pulses at 60,000 milliseconds
        //So, 1 pulse 60000/16000 = 3.75 milliseconds
        delay(forward_time_20mm);
        key = keypad.getKey();
        if(key != NO_KEY) {
          if(key == '1'){
            forwardAt1mm();
            break;
          }
          else if(key == '2'){
            forwardAt2mm();
            break;
          }
          else if(key == '3'){
            forwardAt3mm();
            break;
          }
          else if(key == '4'){
            forwardAt10mm();
            break;
          }
          else if(key == '5'){
            forwardAt20mm();
            break;
          }
          else if(key == '6'){
            forwardAt50mm();
            break;
          }
          else if(key == '*'){
            reverseAt10mm();
            break;
          }
          else if(key == '0'){
            reverseAt20mm();
            break;
          }
          else if(key == '#'){
            reverseAt50mm();
            break;
          }
          else if(key == '7' || key == '8' || key == '9' || key == 'A' || key == 'B' || key == 'C' || key == 'D'){
            break;
          }
        }
      }
}

void forwardAt50mm(){
  // Move forward at 50 mm/minute
      digitalWrite(dirPin, HIGH);

      for(long int i=0; i<40000; i++){
        digitalWrite(pulsePin, HIGH);
        delayMicroseconds(pulse_width);
        digitalWrite(pulsePin, LOW);
        //40000 pulses at 60,000 milliseconds
        //So, 1 pulse 60000/40000 = 1.5 milliseconds
        delay(forward_time_50mm);

        key = keypad.getKey();
        if(key != NO_KEY) {
          if(key == '1'){
            forwardAt1mm();
            break;
          }
          else if(key == '2'){
            forwardAt2mm();
            break;
          }
          else if(key == '3'){
            forwardAt3mm();
            break;
          }
          else if(key == '4'){
            forwardAt10mm();
            break;
          }
          else if(key == '5'){
            forwardAt20mm();
            break;
          }
          else if(key == '6'){
            forwardAt50mm();
            break;
          }
          else if(key == '*'){
            reverseAt10mm();
            break;
          }
          else if(key == '0'){
            reverseAt20mm();
            break;
          }
          else if(key == '#'){
            reverseAt50mm();
            break;
          }
          else if(key == '7' || key == '8' || key == '9' || key == 'A' || key == 'B' || key == 'C' || key == 'D'){
            break;
          }
        }
      }
}

void reverseAt10mm(){
   // Move backward at 10 mm/minute
      digitalWrite(dirPin, LOW);

      for(int i=0; i<8000; i++){
        digitalWrite(pulsePin, HIGH);
        delayMicroseconds(pulse_width);
        digitalWrite(pulsePin, LOW);
        //8000 pulses at 60,000 milliseconds
        //So, 1 pulse 60000/8000 = 7.5 milliseconds
        delay(reverse_time_10mm);
        key = keypad.getKey();
        if(key != NO_KEY) {
          if(key == '1'){
            forwardAt1mm();
            break;
          }
          else if(key == '2'){
            forwardAt2mm();
            break;
          }
          else if(key == '3'){
            forwardAt3mm();
            break;
          }
          else if(key == '4'){
            forwardAt10mm();
            break;
          }
          else if(key == '5'){
            forwardAt20mm();
            break;
          }
          else if(key == '6'){
            forwardAt50mm();
            break;
          }
          else if(key == '*'){
            reverseAt10mm();
            break;
          }
          else if(key == '0'){
            reverseAt20mm();
            break;
          }
          else if(key == '#'){
            reverseAt50mm();
            break;
          }
          else if(key == '7' || key == '8' || key == '9' || key == 'A' || key == 'B' || key == 'C' || key == 'D'){
            break;
          }
        }
      }
}

void reverseAt20mm(){
  // Move backward at 20 mm/minute
      digitalWrite(dirPin, LOW);

      for(int i=0; i<16000; i++){
        digitalWrite(pulsePin, HIGH);
        delayMicroseconds(pulse_width);
        digitalWrite(pulsePin, LOW);
        //16000 pulses at 60,000 milliseconds
        //So, 1 pulse 60000/16000 = 3.75 milliseconds
        delay(reverse_time_20mm);
        key = keypad.getKey();
        if(key != NO_KEY) {
          if(key == '1'){
            forwardAt1mm();
            break;
          }
          else if(key == '2'){
            forwardAt2mm();
            break;
          }
          else if(key == '3'){
            forwardAt3mm();
            break;
          }
          else if(key == '4'){
            forwardAt10mm();
            break;
          }
          else if(key == '5'){
            forwardAt20mm();
            break;
          }
          else if(key == '6'){
            forwardAt50mm();
            break;
          }
          else if(key == '*'){
            reverseAt10mm();
            break;
          }
          else if(key == '0'){
            reverseAt20mm();
            break;
          }
          else if(key == '#'){
            reverseAt50mm();
            break;
          }
          else if(key == '7' || key == '8' || key == '9' || key == 'A' || key == 'B' || key == 'C' || key == 'D'){
            break;
          }
        }
      }
}


void reverseAt50mm(){
  // Move backward at 50 mm/minute
      digitalWrite(dirPin, LOW);

      for(long int i=0; i<40000; i++){
        digitalWrite(pulsePin, HIGH);
        delayMicroseconds(pulse_width);
        digitalWrite(pulsePin, LOW);
        //40000 pulses at 60,000 milliseconds
        //So, 1 pulse 60000/40000 = 1.5 milliseconds
        delay(reverse_time_50mm);
        key = keypad.getKey();
        if(key != NO_KEY) {
          if(key == '1'){
            forwardAt1mm();
            break;
          }
          else if(key == '2'){
            forwardAt2mm();
            break;
          }
          else if(key == '3'){
            forwardAt3mm();
            break;
          }
          else if(key == '4'){
            forwardAt10mm();
            break;
          }
          else if(key == '5'){
            forwardAt20mm();
            break;
          }
          else if(key == '6'){
            forwardAt50mm();
            break;
          }
          else if(key == '*'){
            reverseAt10mm();
            break;
          }
          else if(key == '0'){
            reverseAt20mm();
            break;
          }
          else if(key == '#'){
            reverseAt50mm();
            break;
          }
          else if(key == '7' || key == '8' || key == '9' || key == 'A' || key == 'B' || key == 'C' || key == 'D'){
            break;
          }
        }
      }
}