//#include <Wire.h>
#include <LiquidCrystal_I2C.h>
//#include <PWM.h>



// Define the input pins for the voltage signals
const int Cloc = A1;
const int Anti = A2;
const int Speed = A0;
const int di = A3;
const int cdi = 12;
int s, p = 0, t, last = 0, state = 0;




// Define the output pins for the DM542T driver

const int stepPin = 9;
const int dirPin = 8;
const int enPin = 11;



// Define the maximum and minimum motor speeds
const int maxSpeed = 10;
const int minSpeed = 1;




// Define the LCD address
const int lcdAddr = 0x27;




// Set up the LCD display object
LiquidCrystal_I2C lcd(lcdAddr, 16, 2);




void setup() {
  Serial.begin(115200);
  // Set the step and direction pins as output pins
  pinMode(Speed, INPUT);
  pinMode(di, INPUT);
  pinMode(Cloc, INPUT);
  pinMode(Anti, INPUT);
  pinMode(cdi, INPUT);
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(enPin, OUTPUT);
  analogWrite(enPin, 255);
  // Set up the I2C LCD display
  lcd.init();
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("Motor Speed:");
  lcd.print("0%");
  lcd.setCursor(0, 1);
  lcd.print("Motor Dir:");
  digitalWrite(enPin, HIGH);
}

void loop() {
  /*
  int v=digitalRead(di);
  if (v==1)
  {
    digitalWrite(enPin, LOW);
    digitalWrite(dirPin, HIGH);
    last = 1;
    p = 0;
  }
  else if (digitalRead(cdi) == HIGH )
  {
    digitalWrite(enPin, LOW);
    digitalWrite(dirPin, LOW);
    last = 1;
    p = 1;
  }
  else {
    digitalWrite(enPin,LOW);
    last = 0;
  }*/

  // Read the input voltage signals
  int speed = analogRead(Speed);
  // Map the input voltages to motor speed and direction
  speed = map(speed, 0, 1024, minSpeed, maxSpeed);
  if (state == 0)
  {
    digitalWrite(stepPin, HIGH);
    state = 1;
  }
  else if (state == 1)
  {
    digitalWrite(stepPin, LOW);
    state = 0;
  }
  delayMicroseconds(speed);
  if (last == 0)
  {
    if (analogRead(Cloc) <500 ) {
      p = 0;
      digitalWrite(enPin, LOW);
      digitalWrite(dirPin, HIGH);
      delay(10000);
    }
    else if (digitalRead(Anti) == HIGH) {
      p = 1;
      digitalWrite(enPin, LOW);
      analogWrite(dirPin, 0);
    }
    else {
      digitalWrite(enPin, HIGH);
    }
  }
  if ((speed != s) || (t != p)) {
    //InitTimersSafe();
    //SetPinFrequency(9,speed);
    // Display the current speed and direction on the LCD display
    lcd.clear();
    int speedPercent = map(speed, minSpeed, maxSpeed, 0, 100);
    speedPercent = 100 - speedPercent;
    lcd.setCursor(0, 0);
    lcd.print("Motor Speed:");
    lcd.print(speedPercent);
    lcd.print("% ");
    lcd.setCursor(0, 1);
    lcd.print("Motor Dir:");
    if (p == 0) {
      lcd.print("CW ");
    }
    else {
      lcd.print("CCW");
    }
    s = speed;
    t = p;
  }
}