//https://wokwi.com/projects/376192337074822145

//V9 Created by Jamie Williams Student Engineer Cummins Meritor 2022-2023//
/*This code is designed to control a stepper motor using an arduino and a rotary 
encoder to input various control parameters*/
//More information on the inputs/ the rig can be found in: 
//N:\STUDENT FOLDER (MN)\2022 Jamie Williams\Projects\2023-2024 New Students Project Guides\Clockwork Rig V2
#include <LiquidCrystal.h> //screen arduino library
#include <Stepper.h> //Stepper motor library

/*Constant test parameters*/
/*Constant test parameters*/ 
/*These parameters are mechanically driven from the physical rig itself, it calculates the maximum number of steps the rig may need to achieve (running clerance being 0)*/
//These depend on the components used when building the physical rig
constexpr double pitch = 1.5; //mm
constexpr int lead = 3;
constexpr int max_dist = 44; //mm
constexpr int revolution = 200;
constexpr int max_steps = (revolution*max_dist) / (lead*pitch);
///////////////////////////

LiquidCrystal lcd(13, 12, 11, 10, 9, 8); //declares screen wiring (which ports are used when connecting the screen to the arduino)
Stepper myStepper(revolution, 6, 7); //Setsup stepper motor, how many steps in 1 rev and which ports are being used

// Rotary Encoder Inputs
#define RotaryCLK 2
#define RotaryDT 4
#define PushButton 3 //LABELLED SW (SWITCH) ON ROTARY ENCODER
int menu_counter = 0; // BASE COUNTER TO CONTROL MENUS
int CLKNow; // CURRENT ENCODER POSITION
int CLKPrevious; //PREVIOIUS ENCODER POSITION

/*SELECTS WHICH MENU IS BEING CHANGED*/
bool menu1_selected = false; 
bool menu2_selected = false;
bool menu3_selected = false;
bool menu4_selected = false;
bool menu2 = false; //CONDITION TO CHANGE RUNNING CLERANCE 
bool btn_pressed = false; // CONDITION TO ACTIVATE MOTOR TO CHANGE RC
bool start_test = false; // start test function cond.
bool start = true;// Cond used to pause rig 
int button = -1; //conditon to select option in pause menu
bool pause = false; //pause and play test

float countJunk;
float motor_step;
float stepNUM;
float stepNUM2;
float stepNUM3;
unsigned long S_time = 0; //final calculation
unsigned long S_time2 = 0;

double totalCycles = 100; //value within menu 1
double setRunningClearance = 0; //value within menu 2
double timeOn = 0.50; //value within menu 3 check these
double timeOff = 0.5; //value within menu 4
double rc = 0;

void setup() {
  // Set encoder pins as inputs
  pinMode(RotaryCLK, INPUT);
  pinMode(RotaryDT, INPUT);
  pinMode(PushButton, INPUT_PULLUP);

  // Setup Serial Monitor
  Serial.begin(9600);

  // Read the initial state of CLK
  CLKPrevious = digitalRead(RotaryCLK);

  //LCD setup
  lcd.begin(16, 2);
  lcd.clear(); //clear the whole LCD
  lcd.setCursor(0, 0);

  //Welcome
  lcd.print("Cummins Meritor");
  lcd.setCursor(0, 1);
  lcd.print("Clockwork Rig");
  delay(1000);
  lcd.clear();

/*Interrupt pin means function runs no matter at what point in the test it occurs*/
  attachInterrupt(digitalPinToInterrupt(2), rotate, CHANGE); //rotate function always occurs looking for any change in rotation
  attachInterrupt(digitalPinToInterrupt(PushButton), pushButton, FALLING); // pushbutton function looks for a 'falling' (press) to occur
}

void loop() {
  if (!start) {
    pause_test();
  }

  else if (!menu1_selected && !menu2_selected && !menu3_selected && !menu4_selected && !start_test) {
    menu();
  } else {
    selector();
  }
}

void rotate() {
  CLKNow = digitalRead(RotaryCLK);
  if (CLKNow != CLKPrevious && CLKNow == 1) {
    if (digitalRead(RotaryDT) != CLKNow)
    {
      menu_counter --;
    } else {
      menu_counter ++;
    }
  }
  CLKPrevious = CLKNow;
}

void pushButton() {
  if (menu1_selected) {
    menu_counter = 0;
  }
  if (menu2_selected) {
    menu_counter = 1;
  }
  if (menu3_selected) {
    menu_counter = 2;
  }
  if (menu4_selected) {
    menu_counter = 3;
  }

  switch (menu_counter) {
    case 0:
      menu1_selected = !menu1_selected;
      break;

    case 1:
      if (!menu2)
        menu2_selected = !menu2_selected;
      else {
        btn_pressed = true;
      }
      break;

    case 2:
      menu3_selected = !menu3_selected;
      break;

    case 3:
      menu4_selected = !menu4_selected;
      break;

    case 4:
      start_test = !start_test;
      break;
  }
  if (S_time > 0.1 && button == -1){
    pause = !pause;
  }
  if (button == 0){
    start = false;
    S_time2 = S_time;
    S_time = 0;
    totalCycles = 0;
    setRunningClearance = 0; 
    timeOn = 0; 
    timeOff = 0; 
  }
  else if (button == 1){
    pause = !pause;
  }
  else if (button == 2) {// If cancelled after stopping
    start = true;
  }
  else if (button == 3) {// If continued after stopped
    start_test = true;
    start = true;
    totalCycles = 100;
    setRunningClearance = 0.8;
    timeOn = 0.25;
    timeOff = 0.25;
  }
}

///////////////////SELECTS WHICH MENU AND VALUE IS SHOWN///////////////////
void menu(){
  switch (menu_counter){
    case -1:
      menu_counter = 4;
      break;

    case 0:
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("> Cycle no.: ");
      lcd.setCursor(0, 1);
      lcd.print("  ");
      lcd.print(totalCycles, 0);
      delay(600);
      lcd.clear();
      break;

    case 1:
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("> RC: ");
      lcd.setCursor(0, 1);
      lcd.print("  ");
      lcd.print(rc);
      lcd.print("mm");
      delay(600);
      lcd.clear();
      break;

    case 2:
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("> Time-on:");
      lcd.setCursor(0, 1);
      lcd.print("  ");
      lcd.print(timeOn, 1);
      lcd.print("s");
      delay(600);
      lcd.clear();
      break;

    case 3:
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("> Time-off:");
      lcd.setCursor(0, 1);
      lcd.print("  ");
      lcd.print(timeOff, 1);
      lcd.print("s");
      delay(600);
      lcd.clear();
      break;

    case 4:
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("> Start test?");
      lcd.setCursor(0, 1);
      lcd.print("  Yes?");
      delay(600);
      break;

    case 5:
      menu_counter = 0;
      break;
  }
}
///////////////////////////////////////////////////////////////////////////

//////////////////SELECTS WHICH MENU AND VALUE IS SELECTED/////////////////
void selector(){
  if (menu1_selected){
    lcd.print("X Cycle no.: ");
    lcd.setCursor(0, 1);
    lcd.print("  ");
    lcd.print((menu_counter * 100), 0);
    totalCycles = menu_counter * 100;
    delay(600);
    lcd.clear();
    if (menu_counter == -1) {
      menu_counter = 1000;
    } else if (menu_counter >1000){
      menu_counter = 0;
    }
  }

  else if (menu2_selected) {
    menu_2();
  }  

  else if (menu3_selected){
    timeOn = menu_counter / 2;
    lcd.print("X Time-on:");
    lcd.setCursor(0, 1);
    lcd.print("  ");
    lcd.print(timeOn, 1);
    lcd.print("s");
    delay(600);
    lcd.clear();
    if (menu_counter <= 0) {
      menu_counter = 10;
    } else if (menu_counter > 10) {
      menu_counter = 0;
    }
  }

  else if (menu4_selected){
    timeOff = menu_counter / 2;
    lcd.print("X Time-off:");
    lcd.setCursor(0, 1);
    lcd.print("  ");
    lcd.print(timeOff, 1);
    lcd.print("s");
    delay(600);
    lcd.clear();
    if (menu_counter <= 0) {
      menu_counter = 10;
    }else if (menu_counter > 10) {
      menu_counter = 1;
    }
  }

  if (start_test) {
    calculation();
  }
}
///////////////////////////////////////////////////////////////////////////

///////////////////ACCOUNTS FOR RC VALUE IN MAX STEP NO.///////////////////
void menu_2(){
  int step = 0;
  stepNUM2 = 0;
  menu2 = true;

  double rc_step;
  rc = menu_counter * 0.05;
  rc_step = menu_counter * 2;
  stepNUM2 = max_steps - rc_step;
  motor_step = max_steps - rc_step;
  stepNUM = stepNUM2 - stepNUM3;

  lcd.print("X RC: ");
  lcd.setCursor(0, 1);
  lcd.print("  ");
  lcd.print(rc);
  lcd.print("mm");
  delay(500);
  lcd.clear();

  if (menu_counter <= 0) {
    menu_counter = 80;
  } else if (menu_counter > 80) {
    menu_counter = 1;
  }

  if (btn_pressed) {
    rc_step = menu_counter * 2;
    menu2_selected = !menu2_selected;
    setRunningClearance = max_dist - rc; //total distance travelled is total possible -rc
    menu_counter = 1;
    lcd.print("Setting RC to:");
    lcd.setCursor(0, 1);
    lcd.print(rc);
    lcd.print("mm");

    if (stepNUM < 0) {
      step = 4;
      stepNUM = stepNUM * -1;
    } else {
      step = -4;
    }

    for (float junk = 0.0f; junk <= stepNUM; junk+=1.0f){//BS code
    //while(countJunk <= stepNUM){
      myStepper.step(step);
      //lcd.print(stepNUM);//debugging code
      delay(1);
      //countJunk += 1.0f;
    }
    stepNUM3 = stepNUM2;
    stepNUM2 = 0;
    btn_pressed = false;
    menu2 = false;
  }
  lcd.clear();
}
///////////////////////////////////////////////////////////////////////////

///////////////////////////STEP TIME CALCULATION///////////////////////////
void calculation(){
  if (totalCycles != 0 && setRunningClearance != 0 && timeOn != 0 && timeOff != 0){
    double total_time = timeOn + timeOff;
    S_time = (total_time * totalCycles) / (0.0178 * setRunningClearance * 2.5 * 0.5);
  motor(countJunk);
  } else {
    lcd.clear();
    lcd.print("Missing Some");
    lcd.setCursor(0, 1);
    lcd.print("Variables!");
    delay(2000);
    start_test = false;
    menu();
  }
}
//////////////////////////////CONTROLS MOTOR///////////////////////////////
void motor(float &progress){
  for (; progress <= (motor_step + 1); progress += 1.0f){
  //while(countJunk <= (motor_step + 1)){
    if (!start) break;//goes slow thereafter
    int complete = 100 * (progress / motor_step);
    lcd.setCursor(0, 1);
    lcd.print("Progress: ");
    lcd.print(complete);
    lcd.print(" % ");
    for (int n = 0; n < S_time / 10;n++) {
      display();
      delay(10);        
    }
    myStepper.step(4);

    if (complete >= 100.00) {
      S_time = 0;
      totalCycles = 0;
      setRunningClearance = 0;
      timeOn = 0;
      timeOff = 0;
      rc = 0;
      delay(100);
      start_test = !start_test;
      menu();
    }
    
    //countJunk += 1.0f;
  }
}
///////////////////////////////////////////////////////////////////////////

///////////////////////DISPLAY WHILE TEST IS RUNNING///////////////////////
void display() {
  if (menu_counter < -1) {
    menu_counter = 0;
  }

  if (menu_counter > 1) {
    menu_counter = 0;
  }

  if (!pause) {
    lcd.setCursor(0, 0);
    lcd.print("Test Running ");
  } else {
    lcd.setCursor(0, 0);
    lcd.print("Pause test? ");
    switch (menu_counter) {
      case -1:
        menu_counter = 1;
        break;

      case 0:
        lcd.print ("Y");
        button = 0;
        break;

      case 1:
        lcd.print("N");
        button = 1;
        break;

      case 2:
        menu_counter = 0;
        break;
    }
  }
}
///////////////////////////////////////////////////////////////////////////

/////////////////////////////////PAUSE TEST////////////////////////////////
void pause_test() {
  if (menu_counter > 3) {
    menu_counter = 0;
  }
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Test Paused");
  lcd.setCursor(0, 1);
  lcd.print("End Test: ");
  lcd.setCursor(10, 1);

  switch (menu_counter) {
    case -1:
      menu_counter = 2;
      break;

    case 0:
      lcd.print("Y?");
      button =2;
      delay(500);
      break;

    case 1:
      lcd.print("N?");
      delay(500);
      button = 3;
      break;

    case 2:
      menu_counter = 0;
      break;
  }
}
///////////////////////////////////////////////////////////////////////////