#include <AccelStepper.h>
#include <ezButton.h>
#include <avr/wdt.h>


#define dirPin 5 //Define pin no. for direction 
#define stepPin 6 //Define pin no. for stepper motor
#define motorInterface  1 //Define type of stepper motor

#define POWER_BUTTON A0 //Define pin A0 to power button
#define LIMIT_SWITCH_LEFT A1 //Define pin A1 to limit swithc left side
#define LIMIT_SWITCH_RIGHT A2 //Define pin A2 to limit swtich right side

//Define motor direction
#define DIRECTION_CCW -1 
#define DIRECTION_CW 1

//Define toggle switch pin no.
const int switchPinRight = 8;
const int resetPin = 2;



//Define ezbutton name
ezButton powerButton(POWER_BUTTON);
ezButton limitSwitch1(LIMIT_SWITCH_LEFT); 
ezButton limitSwitch2(LIMIT_SWITCH_RIGHT);

// Create a new instance of the AccelStepper class;
AccelStepper stepper = AccelStepper(motorInterface, stepPin, dirPin); 

long maxPosition = 2000; //Define maximum position

//Define the state variables in the main loop
enum Funcstate{HOME_STATE, CLEAN_STATE};
Funcstate presentState = HOME_STATE;

//Define the state variables in home loop
enum ModeState{NOR_STATE, HEV_STATE};
ModeState initialState = NOR_STATE;

//Define the state variables in the motor control function 
enum State{STEP_INITIAL, STEP_CHANGE_CCW, STEP_CHANGE_CW, STEP_MOVE, STEP_MOVING, STEP_STOP};
State currentState = STEP_INITIAL;



void setup() {
  Serial.begin(9600);
  pinMode(resetPin, INPUT_PULLUP);
  pinMode(switchPinRight, INPUT_PULLUP);
  pinMode(LIMIT_SWITCH_LEFT, INPUT_PULLUP);
  pinMode(LIMIT_SWITCH_RIGHT, INPUT_PULLUP);
  
  //Set debounce time to 50 milliseconds
  powerButton.setDebounceTime(50); 
  limitSwitch1.setDebounceTime(20); 
  limitSwitch2.setDebounceTime(20); 

  //Set the count mode of button (Falling, Rising, Both)
  powerButton.setCountMode(COUNT_FALLING); 
  limitSwitch1.setCountMode(COUNT_FALLING); 
  
  stepper.setMaxSpeed(1000);     //Set maximum speed 1000 step/sec
  stepper.setAcceleration(50);  //Set motor travelling acceleration 50 step/sec2
  stepper.setSpeed(100);        //Set motor travelling speed 100 step/sec
  
  

}

void loop() {
  
   
  bool sub_rightState = selectSwitchState();
  
  // Check if the switch position has changed
  if (sub_rightState == true) {
      
   initialState = NOR_STATE;
      
  } else {
   
   initialState = HEV_STATE;

  }

  switch (initialState) {
  
   case NOR_STATE:
   
   powerButton.loop();
   
   unsigned long count1 = powerButton.getCount(); //Store number of pressing power button to "count1"
   if (count1 >= 1){

    switch (presentState) {
      case HOME_STATE:
      Serial.println("Homing is processing.................");
      homeMode();
      Serial.println("Homing has Completed");
      delay(3000);
      presentState = CLEAN_STATE;
      break;

     case CLEAN_STATE:
     motorControl();
     break;
     
    }
    
   }
 
   break;

   case HEV_STATE:

   break;
  }
  
  // Check if the reset button is pressed
  if (digitalRead(resetPin) == LOW){
    delay(50); // Debounce the button
  }
  
  // Check button state again
  if (digitalRead(resetPin) == LOW){
    
    resetArduino(); // Button pressed, reset the Arduino board

  }
  
}

// Function to reset the Arduino board
void resetArduino() {
  wdt_disable();  // Disable the watchdog timer
  wdt_enable(WDTO_15MS);  // Enable the watchdog timer with a 15ms timeout
  while (true);  // Wait for the watchdog timer to reset the board
}


//Function for checking mode of selector switch
bool selectSwitchState(){

  bool rightState = false;

  // Read the states of the switch pins
  int switchStateRight = digitalRead(switchPinRight);
  
  if(switchStateRight == LOW){
    rightState = true;
  }
 
  return rightState;
}