#include <HX711_ADC.h>
#include <EEPROM.h>
#include <LiquidCrystal.h>
#include <Servo.h>
const int HX711_dout = 4; //mcu > HX711 dout pin
const int HX711_sck = 5; //mcu > HX711 sck pin
#define SERV 9
const int calVal_ea=0 ;
unsigned long t=0;
Servo myServo;
float mass =0;
float targetMass;
float diff;
HX711_ADC LoadCell(HX711_dout,HX711_sck);
#define LCD_RS 22
#define LCD_E  24
#define LCD_D4 26
#define LCD_D5 28
#define LCD_D6 30
#define LCD_D7 32
LiquidCrystal lcd(LCD_RS,LCD_E,LCD_D4,LCD_D5,LCD_D6,LCD_D7);
#define BUTMOD 50
#define BUTSET 48
#define BUTSTOP 46
int mode=0;
int butsetmode=0;
int butstopmode=1;
void setup()
{
  //EEPROM.put(0,0.42);
  Serial.begin(9600);
  LoadCell.begin();
  float calVal;
  //EEPROM.get(calVal_ea,calVal);
  calVal=1934.96;// for irl
  calVal=0.42;// for sim
  unsigned long stableT =2000;
 boolean _tare = 1;
 LoadCell.start(stableT,_tare);
 LoadCell.setCalFactor(calVal);
 myServo.attach(SERV);
 
 lcd.begin(16,2);
 lcd.clear();
}
void loop()
{
  if(butstopmode)
  {setmass();}
  getMass();
  if(digitalRead(BUTSET))
  {setbutop();}
  if(digitalRead(BUTSTOP))
  {stopbutop();}
}
void getMass()
{
  boolean newData =0;
  const int prDelay=100; //reduce to increase speed of collecting mass
  if(LoadCell.update()) newData=1;
  if(newData)
  {
    if(millis()> t+prDelay )
    {
      mass = LoadCell.getData();
      Serial.print("weight : ");
      lcd.setCursor(0,1);
      lcd.print(mass);
 
      Serial.println(mass);
      newData=0;
      t=millis();
    }
  }
  
}
void setmass()
{
  if(digitalRead(BUTMOD))
  {
    mode++;
    if(mode>2)mode=0;
  }
  
  switch (mode)
{
  case 0: targetMass=250;
  break;
  case 1: targetMass=500;
  break;
  case 2: targetMass=750;
  break;
  default: targetMass=250;
}
lcd.setCursor(0,0);
lcd.print(targetMass);
Serial.print(" tm :");
Serial.println(targetMass);
}
void setbutop()
{
  butstopmode=0;
  butsetmode=1;
diff = targetMass-mass;
  if(diff>0)
  {
    myServo.write(150);
  }
  else
  myServo.write(180);
lcd.print("    ");
}
void stopbutop()
{
  butstopmode=1;
  butsetmode=0;
  myServo.write(180);
  lcd.setCursor(4,0);
  lcd.print("stop");
  Serial.print(" stop ");
}