// Tugas Mikroprosesor 2 Pasca UTS
// Azfar Azdi Arfakhsyad
// Ariq Naufal Fakri Wiratno
// Diamond Azzukhrif Muzayyin
// Hannan Nur Muhammad
// Muhammad Anwari Syukur
// Rizki Alfiansyah
#define outputA 6
#define outputB 7
int counter = 0; 
int aState;
int aLastState; 
float jarak; 
int speed;
unsigned long newtime;
unsigned long oldtime = 0;
int ldr=A0;// sensor LDR di pin A0
int nilaildr=0;// nilai awal sensor LDR=0
int relaycuttoffmotor=5;//pin relay untuk cutoffmotor di pin 5

 void setup() { 
   pinMode (outputA,INPUT);//output clk encoder
   pinMode (outputB,INPUT);//output dt encoder
   pinMode(5, OUTPUT);//relay sebagai output
   Serial.begin (9600);
   // Reads the initial state of the outputA
   aLastState = digitalRead(outputA);   
 } 

 void loop() { 
   newtime= millis();
   aState = digitalRead(outputA); // Reads the "current" state of the outputA
   // If the previous and the current state of the outputA are different, that means a Pulse has occured
   if (aState != aLastState){     
     // If the outputB state is different to the outputA state, that means the encoder is rotating clockwise
     if (digitalRead(outputB) != aState) { 
       counter ++;
     } else {
       counter --;
     }
     Serial.print("Jarak: ");
     jarak=map(counter,0,40,0,31.41);
     Serial.print(jarak*-1);
     Serial.println(" cm");
     speed=jarak*1000/(newtime-oldtime);
     Serial.print("Speed: ");
     Serial.print(speed*-1);
     Serial.println(" cm/s");
     oldtime = newtime;
   } 
 aLastState = aState; // Updates the previous state of the outputA with the current state
  nilaildr=analogRead(ldr);
  Serial.print("nilai ldr: ");
  Serial.println(nilaildr);
  if(nilaildr<700){ //Asumsi nilai 700 cairan kimia sudah keruh
  digitalWrite(5,HIGH); //turn relay ON
  Serial.print("Motor ON //");
  }
  else {
  digitalWrite(5,LOW); //turn relay OFF*/
  Serial.print("Motor OFF //");
  } 
 }