#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 16, 2); // I2C address 0x27, 16 column and 2 rows

#define Detectpin 4

// IR Sensor Variables
int sensorState = 0, lastState = 0;

//Designate each coil output, pushbutton input pins
#define coil_B1Pin 23
#define coil_B2Pin 22
#define coil_A1Pin 25
#define coil_A2Pin 24

//Set delay timer to acheive 5RPM
int timeDelay = 12;
int noCycles = 65; //90 degrees = 64 cycles (+1 fine tune)

const int PotPin = 0;
int PotReading = 0;
float speed = 0;
float lastSpeed=1;
const int ledpin1 = 5;
const int ledpin2 = 6;
const int EnablePin = 10;
const int CWpin = 7;      // Output pin on Arduino that connects to pin 7 on L293D for directional rotation control
const int CCWpin = 9;// Output pin on Arduino that connects to pin 2 on L293D for opposite directional rotational control

void setup() {

Serial.begin(9600);
  pinMode(PotPin, INPUT);                                     //Set potentiometer as input
  pinMode(ledpin2, OUTPUT);                                   //Red light signialing conveyor is off
  pinMode(ledpin1, OUTPUT);                                   //Green light signialing conveyor is on
  pinMode(EnablePin, OUTPUT);
  pinMode(CWpin, OUTPUT);
  pinMode(CCWpin, OUTPUT);
  digitalWrite(CWpin, HIGH);                                  // CW Pin is always on
  pinMode(Detectpin, INPUT);
  digitalWrite(Detectpin, HIGH);

  
  //Designate coils as outputs, pushbutton as input
  pinMode(coil_B1Pin, OUTPUT);
  pinMode(coil_B2Pin, OUTPUT);
  pinMode(coil_A1Pin, OUTPUT);
  pinMode(coil_A2Pin, OUTPUT);

 lcd.init(); // initialize the lcd
  lcd.backlight();
  lcd.print("SETUP COMPLETE");
  delay(1500);
  lcd.clear();

}

void loop() {
  
  sensorState = irSensorRead();
  lastState = sensorState;

  motorRun(sensorState);

switch (sensorState){
  case 0:
    dispensorRun();
}


}

int irSensorRead() {

  // read the state of the pushbutton value:
  sensorState = digitalRead(Detectpin);

  if (sensorState && !lastState) {
    Serial.println(sensorState);
  }
  if (!sensorState && lastState) {
    Serial.println(sensorState);
  }

  return sensorState;
}

void motorRun(int sensorState) {

  PotReading = analogRead(PotPin);
  speed = map(PotReading, 0, 1023, 0, 255);
  // Serial.println(speed);
  digitalRead(Detectpin);


  if (speed > 0 )
  {
    digitalWrite(ledpin1, HIGH);
    digitalWrite(ledpin2, LOW);
    analogWrite(EnablePin, speed);
   
    if(lastSpeed != speed){
   float percent = speed/255*100;
  lcd.clear();
  lcd.print("Speed: ");
  lcd.setCursor(7,0);
  lcd.print(percent);
  lcd.setCursor(12,0);
  lcd.print("%");
  lastSpeed = speed;
    }
    

    if (sensorState == LOW )
    {
      digitalWrite(ledpin2, HIGH);    // Red light turns on
      digitalWrite(ledpin1, LOW);     // Green light off
      digitalWrite(EnablePin, LOW);   // Motor off
     
    }

  }
  else {
    digitalWrite(ledpin2, HIGH);
    digitalWrite(ledpin1, LOW);
    digitalWrite(EnablePin, LOW);

    if(lastSpeed != speed){
    lcd.clear();
    lcd.print("Conveyor Off");
    lastSpeed = speed;
    }

  }
}

// Run Stepper motor to dispense
void dispensorRun(){

  delay(500);
  lcd.clear();
   lcd.print("Please Wait");
      lcd.setCursor(0,1);
      lcd.print("Dispensing Now...");
  //2048 steps in 360 degrees
for(int n = 0; n < noCycles; n++) {
step4();
delay(timeDelay);
step3();
delay(timeDelay);
step2();
delay(timeDelay);
step1();
delay(timeDelay);
}
delay(1000);
lastSpeed = 300;

motorRun(1);
delay(2000);

}


// Execute Step 1 coil sequence
void step1(){
  digitalWrite(coil_A1Pin,0);
  digitalWrite(coil_A2Pin,1);
  digitalWrite(coil_B1Pin,1);
  digitalWrite(coil_B2Pin,0);
}

// Execute Step 2 coil sequence
void step2(){
  digitalWrite(coil_A1Pin,0);
  digitalWrite(coil_A2Pin,1);
  digitalWrite(coil_B1Pin,0);
  digitalWrite(coil_B2Pin,1);
}

// Execute Step 3 coil sequence
void step3(){
  digitalWrite(coil_A1Pin,1);
  digitalWrite(coil_A2Pin,0);
  digitalWrite(coil_B1Pin,0);
  digitalWrite(coil_B2Pin,1);
}

// Execute Step 4 coil sequence
void step4(){
  digitalWrite(coil_A1Pin,1);
  digitalWrite(coil_A2Pin,0);
  digitalWrite(coil_B1Pin,1);
  digitalWrite(coil_B2Pin,0);
}