#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 16, 2);


// Motor to Left most side 30 and right most side 155 and centre 92
int  center = 92; 
int left = 30;
int right = 155;
volatile int motor_direction = center;
float Temp_Ch_Val[2] = {0};
int channel = 0;

bool swing = false;
int countbig = 10;
int countsmall = 5;


ISR(ADC_vect)
{
  Temp_Ch_Val[channel] = 1/(log(1/(1023./ADC-1))/3950+1.0/298.15)-273.15;
  channel++;
  if (channel == 2) {
    channel = 0;
  }
  ADMUX = (1 << REFS0) | channel;
  // Start next Conversion
  ADCSRA |= (1 << ADSC);
}

ISR(TIMER0_COMPA_vect)
{
  OCR0A = motor_direction;
}

ISR(INT0_vect) 
{
    if(swing)
    swing = false;
    else
    swing = true;
}

void setup() {
    lcd.init();
    lcd.backlight();
    DDRD = ~(1 << PD2);
    DDRD |= (1 << PD6);
    DDRC = 0x00;
    DDRB = 0x00;
    DDRD |= (1<< PD0); 
    PORTD |= (1 << PD2);
    EIMSK = (1 << INT0);
    sei();
    ADMUX = (1 << REFS0); // reference voltage = AVCC
    ADCSRA |= (1 << ADIE) | (1<< ADEN) | (1 << ADPS2) | (1 << ADPS1)  | (1 << ADPS0); 
   // Start the first conversion

  // Configure Timer0 for fast PWM mode with prescaler = 8
    TCCR0A = (1 << WGM01) | (1 << WGM00) | (1 << COM0A1);
    TCCR0B = (1 << CS02);  
    OCR0A = 92;
  // Enable Timer0 compare match A interrupt and global interrupts
    TIMSK0 = (1 << OCIE0A);  
}

void loop() {
        lcd.setCursor(0, 0);
        lcd.print("T1:");
        lcd.print(Temp_Ch_Val[1]);
        lcd.print("T2:");
        lcd.print(Temp_Ch_Val[0]);
        lcd.setCursor(0, 1);  
        if(swing)
        {
           lcd.print("Sw ON ");
           ADCSRA |= (1 << ADSC); 
           PORTD &= ~(1 << PD0);
           if(Temp_Ch_Val[1] > Temp_Ch_Val[0])
           {
            motor_direction = left;
            if(countbig > 0)
            {
            lcd.print(" Left  ");
            countbig--;
            _delay_ms(200);
            lcd.print(countbig);
            countsmall = 5;
            }
            else
            {
            motor_direction = right;
            lcd.print(" Right ");
            countsmall--;
            lcd.print(countsmall);
            if(countsmall == 0)
            countbig = 10;
            _delay_ms(200);
            }
          }
          else if(Temp_Ch_Val[0] > Temp_Ch_Val[1])
          {
            motor_direction = right;
            if(countbig > 0)
            {
            lcd.print(" Right ");
            countbig--;
            _delay_ms(200);
            lcd.print(countbig);
            countsmall = 5;
            }
            else
            {
            motor_direction = left;
            lcd.print(" Left  ");
            countsmall--;
            lcd.print(countsmall);
            if(countsmall == 0)
            countbig = 10;
            _delay_ms(200);
            }
          }
            else if(Temp_Ch_Val[1] = Temp_Ch_Val[0])
          {
            motor_direction = center;
            lcd.print(" Center      ");
          }
         }
         else
         {
          lcd.print("Sw OFF");
           PORTD |= (1 << PD0);
         if((PINB & (1 << PB5)))
         {
          motor_direction = left;
            lcd.print(" Left  ");
         }
         else if ((PINB & (1 << PB4)))
         {
           motor_direction = right;
            lcd.print(" Right ");
         }
        else
        {
          motor_direction = center;
            lcd.print(" Center    ");
        }
        }
  

}