/*
     'C' : Prints all the commands and their functions.
     'P' : Rotates the motor in positive (CW) direction, relative.
     'N' : Rotates the motor in negative (CCW) direction, relative.
     'R' : Rotates the motor to an absolute positive position (+).
     'r' : Rotates the motor to an absolute negative position (-).
     'S' : Stops the motor immediately.
     'A' : Sets an acceleration value.
     'L' : Prints the current position/location of the motor.
     'H' : Goes back to 0 position from the current position (homing).
     'U' : Updates the position current position and makes it as the new 0 position.
 */
 

#include <IRremote.h>
#include <AccelStepper.h>
//#include <TM1650.h>
#include <TM1637.h>
#include <EEPROM.h>
//#include <Stepper.h>
#define PIN_RECEIVER 2   // Signal Pin of IR receiver
#define ENCODER_CLK 3
#define ENCODER_DT  6//#define ENCODER_SW  4

IRrecv receiver(PIN_RECEIVER);
#define BUTTON_PIN 7
TM1637 TM;
int dir=0;
int dir1;
int c=0;
long g=0;
char gt[5];
 char x[5];
 char ee[5];
 char y[5];
 int counter;
#define M1_STEP 11
#define M1_DIR  10
#define M1_ENA  12
#define MO 8
long receivedSteps = 0; //Number of steps
long receivedSpeed = 0; //Steps / second
long receivedAcceleration = 0; //Steps / second^2
char receivedCommand;
//-------------------------------------------------------------------------------
int directionMultiplier = 1; // = 1: positive direction, = -1: negative direction
bool newData, runallowed = false; // booleans for new data from serial, and runallowed flag
AccelStepper stepper(1, 10, 11);// direction Digital 9 (CCW), pulses Digital 8 (CLK)
 
void setup()
{
   pinMode(MO,OUTPUT);
  pinMode(BUTTON_PIN,INPUT);
  pinMode(M1_ENA,OUTPUT);
  pinMode(M1_STEP,OUTPUT);
  pinMode(M1_DIR,OUTPUT);
 EEPROM.put(100,x); //used address : 100
EEPROM.get(0,y);

digitalWrite(MO,LOW);
  Serial.begin(9600);
  TM.begin(4, 5, 4);       //  clockpin, datapin, #digits
  TM.displayClear();
 // TM.displayOn();
  TM.setBrightness(7);     // full brightness, default is 3
  
  TM.displayPChar(y);
  TM.displayPChar(EEPROM.get(0,y));

   stepper.setMaxSpeed(400); //SPEED = Steps / second
   stepper.setAcceleration(800); //ACCELERATION = Steps /(second)^2
    stepper.disableOutputs(); //disable outputs
  receiver.enableIRIn(); // Start the receiver

   pinMode(ENCODER_CLK, INPUT);
  pinMode(ENCODER_DT, INPUT);
 // pinMode(interruptPin, INPUT_PULLUP);
  //attachInterrupt(digitalPinToInterrupt(BUTTON_PIN), stopm1,FALLING);

 // attachInterrupt(digitalPinToInterrupt(ENCODER_CLK), readEncoder, FALLING);
  //int dtValue = digitalRead(ENCODER_DT);
}

void readEncoder() {
  int dtValue = digitalRead(ENCODER_DT);
  if (dtValue == HIGH) {
    counter++; // Clockwise
  }
  if (dtValue == LOW) {
    counter--; // Counterclockwise
  }
  
  char yy[5];
 sprintf(yy,"%04d",getCounter());
   TM.displayPChar(yy);
  //x[0]=yy ;
  //EEPROM.update(0,x);
  sprintf(y,"%04d",EEPROM.get(0,x));
 
  Serial.println(counter);
}
int getCounter() {
  int result;
  noInterrupts();
  result = counter;
 interrupts();
  return result;
}
void stopm1(){
// noInterrupts(); 
  Serial.println("stop");
 g=counter; 
 char yy[5];
 sprintf(yy,"%04d",getCounter());
   TM.displayPChar(yy);
   
 //  interrupts();
}

void m1stepR() {//if (receiver.decodedIRData.command==168)
digitalWrite(MO,HIGH);
delay(300);
     while(counter < g ){
 digitalWrite(M1_STEP,HIGH);
  digitalWrite(M1_DIR,HIGH);//dir==1? :LOW);
  delayMicroseconds(500);
   digitalWrite(M1_ENA,LOW);
  delayMicroseconds(500);
  digitalWrite(M1_STEP,LOW);
}
delay(500);
digitalWrite(MO,LOW); 
 }
void m1stepL() {//if (g>counter){}
digitalWrite(MO,HIGH);
delay(300);
    while( counter > g){ 
     
 digitalWrite(M1_STEP,HIGH);
  digitalWrite(M1_DIR,LOW);
  delayMicroseconds(500);
   digitalWrite(M1_ENA,LOW);
  delayMicroseconds(500);
  digitalWrite(M1_STEP,LOW);
}
delay(500);
digitalWrite(MO,LOW); } 
void resetCounter() {
  noInterrupts();
  counter = 0;
  EEPROM.update(100,x);
  Serial.println(EEPROM.get(100,y));
  interrupts();
}
void rest(){
   g=g*0;
char text="0000";
  sprintf(text,"%04d",x);
    TM.displayClear();
    TM.displayPChar("hloo");
   }
void loop()
{
  if (receiver.decode()) {   // Checks received an IR signal
  delay(50);
    translateIR();
    receiver.resume();  // Receive the next value
  
  
    } 
}
  

void translateIR()
{// receivedCommand = Serial.read();  pass the value to the receivedCommad variable
        //indicate that there is a new data by setting this bool to true
  newData = true;
        if (newData == true) //we only enter this long switch-case statement if there is a new command from the computer
        {
  // Takes command based on IR code received
  switch (receiver.decodedIRData.command) {
    case 162:
     noInterrupts();
               stepper.stop(); //stop motor
                stepper.disableOutputs(); //disable power
                Serial.println("Stopped."); //print action
                runallowed = false; //disable running
    dir1=0;
      lcdPrint("POWER");
     interrupts();
      break;
    case 226:
    g=g*0;
    TM.displayClear();
     //TM.displayPChar("---0");
      break;
    case 43:
    c = '000';
      lcdPrint(c);//"TEST"
      break;
    case 2:
      lcdPrint("PLUS");
                receivedSteps = (g*10); //value for the steps
                receivedSpeed = 200; //value for the speed     
                directionMultiplier = 1; //We define the direction
                Serial.println("Absolute position (+)."); //print the action
                RotateAbsolute(); //Run the function
 
      break;
    case 194:
      lcdPrint("BACK");
      break;
    case 224:
      lcdPrint("PREV.");
       g=counter;
      g=g-1;
       TMPrint();
     // m1stepL();
      break;
    case 168:
    dir1=0;
      lcdPrint("PLAY");
       if (receiver.decodedIRData.command==168){
     //m1stepL();
      }
 if (receiver.decodedIRData.command==168){  
    // m1stepR();
    }  
     Serial.println(g);
     Serial.println(counter);
    
      break;
    case 144:
      lcdPrint("NEXT");
      g=counter;
       g=g+1;
     TMPrint();
     // m1stepR();  
      break;
   
    case 152:
      lcdPrint("MINUS");
      break;
    case 176:
       g=(g*0);
    Serial.println(g);
    rest();
    TM.displayPChar("0000");
     
      break;
      case 104:
     g=g*10;
     c = '0';
    Serial.println(g);
      lcdPrint(c);
      break;  
    case 48:
      g=(g*10)+1;
     c = '1';
    Serial.println(g);
      lcdPrint(c);
      break;
    case 24:
       g=(g*10)+2;
       c = '2';
    Serial.println(g);
      lcdPrint(c);
      break;
    case 122:
       g=(g*10)+3;
   c = '3';  
    Serial.println(g);
      lcdPrint(c);
      break;
    case 16:
       g=(g*10)+4;
     c = '4';  
    Serial.println(g);
      lcdPrint(c);
      break;
    case 56:
       g=(g*10)+5;
       c = '5';
    Serial.println(g);
      lcdPrint(c);
      break;
    case 90:
       g=(g*10)+6;
       c = '6';
    Serial.println(g);
      lcdPrint(c);
      break;
    case 66:
       g=(g*10)+7;
     c = '7';  
    Serial.println(g);
      lcdPrint(c);
      break;
    case 74:
       g=(g*10)+8;
     c = '8';  
    Serial.println(g);
      lcdPrint(c);
      break;
    case 82:
       g=(g*10)+9;
     c = '9';  
    Serial.println(g);
      lcdPrint(c);
      break;
    default:
      
      Serial.print(receiver.decodedIRData.command);
      Serial.print(" other button");
  }}
  if(g>1010){
    rest();
     
     Serial.println(g);
     
   TM.displayPChar("EROR");
   Serial.println("eror");
  }   
}
void TMPrint(){
   char gt[5];
   sprintf(gt,"%04d",g);
   TM.displayPChar(gt);
}
void RotateAbsolute()
{
    //We move to an absolute position.
    //The AccelStepper library keeps track of the position.
    //The direction is determined by the multiplier (+1 or -1)
    //Why do we need negative numbers? - If you drive a threaded rod and the zero position is in the middle of the rod...
 
    runallowed = true; //allow running - this allows entering the RunTheMotor() function.
    stepper.setMaxSpeed(receivedSpeed); //set speed
    stepper.moveTo(directionMultiplier * receivedSteps); //set relative distance   
}
void lcdPrint(char* text)
{
  TMPrint();
  Serial.println(text);
 
 Serial.println(receiver.decodedIRData.command);
}