#define STEPPER_STEPS         200
#define PIN_STEP_DISTRIBUTER1 23
#define PIN_DIR_DISTRIBUTER1  19
#define PIN_STEP_DISTRIBUTER2 18
#define PIN_DIR_DISTRIBUTER2   5
#define PIN_STEP_MOVER         4
#define PIN_DIR_MOVER          2
#define PIN_STEP_ROLLER       17
#define PIN_DIR_ROLLER        16
#define PIN_SERVO_CLOSER      14
#define PIN_SERVO_WATER       12
#define PIN_ENCODER_CLK       34
#define PIN_ENCODER_DT        35
#define PIN_ENCODER_SW        32
#define PIN_BUTTON            33
#define PIN_ENDSWITCH         15

#include "user_interface.h"
#include "runner.h"
#include "roller.h"

//------------USER-INTERFACE--------
UserInterface userinterface(int(PIN_ENCODER_CLK), int(PIN_ENCODER_DT), int(PIN_ENCODER_SW), int(PIN_BUTTON));

//------------RUNNER-----------------
Runner runner(int(PIN_STEP_DISTRIBUTER1), int(PIN_DIR_DISTRIBUTER1), int(PIN_STEP_DISTRIBUTER2), int(PIN_DIR_DISTRIBUTER2), int(PIN_STEP_MOVER), int(PIN_DIR_MOVER), int(PIN_ENDSWITCH));

//------------ROLLER-----------------
Roller roller(int(PIN_STEP_ROLLER), int(PIN_DIR_ROLLER), int(PIN_SERVO_CLOSER), int(PIN_SERVO_WATER));


void IRAM_ATTR limitSwitchHandler()
{ 
  //runner.mover.setLimitSwitchActive(runner.mover.LIMIT_SWITCH_COMBINED_BEGIN_AND_END);
  // lastDebounceTime = millis();
}

void setup() {
  Serial.begin(115200);
  pinMode(PIN_ENDSWITCH, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(PIN_ENDSWITCH), limitSwitchHandler, CHANGE);
  // Setup Userinterface
  userinterface.setupUserInterface();

  runner.setupRunner();
  roller.setupRoller();
}


void loop() {
  userinterface.updateInterface();
  // ardprintf("Ratio: %f, Mover Speed: %f, Roller Speed: %f, Closer Angle: %f, Water Angle: %f", userinterface.herb_ratio, userinterface.mover_speed_proportion, userinterface.roller_speed_proportion, userinterface.closer_angle_proportion, userinterface.water_angle_proportion);

  if (userinterface.do_rolling){
    // Do runner actions
    runner.setSpeed(userinterface.herb_ratio, userinterface.mover_speed_proportion);
    runner.moveHome();
    runner.startDistribution();

    // Do roller actions
    roller.setCloser(1, userinterface.closer_angle_proportion);
    roller.startRolling(userinterface.roller_speed_proportion);
    roller.setWater(1, userinterface.water_angle_proportion);
    delay(1000);
    roller.setWater(0, userinterface.water_angle_proportion);
    roller.finalRoll(userinterface.roller_speed_proportion);
    roller.setCloser(0, userinterface.closer_angle_proportion);
    userinterface.set_do_rolling(false);
  }

  if (userinterface.do_autohome){
    runner.moveHome();
    userinterface.set_do_autohome(false);
  }
  delay(10); // this speeds up the simulation

}