// STM32 Nucleo-C031C6 I2C Example
// Simulation: https://wokwi.com/projects/365421666018061313

#include "LiquidCrystal_I2C.h"
#include <Keypad.h>
#include <Stepper.h>

#define I2C_ADDR    0x27
#define LCD_COLUMNS 20
#define LCD_LINES   4
LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES);

const uint8_t ROWS = 4;
const uint8_t COLS = 4;
char keys[ROWS][COLS] = {
  { '1', '2', '3', 'A' },
  { '4', '5', '6', 'B' },
  { '7', '8', '9', 'C' },
  { '*', '0', '#', 'D' }
};

uint8_t colPins[COLS] = { A1, A2, A3, A4 }; 
uint8_t rowPins[ROWS] = { 3, 4, 5, 6 }; 

Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);

const int stepsPerRevolution = 360;
Stepper myStepper(stepsPerRevolution, 10, 11, 12, 13);

int cur_floor = 1;
int tar_floor = 0;

void setup() {
  Serial.begin(115200);
  Serial.println("Hello, STM32!");

  lcd.init();
  lcd.backlight();
  lcd.setCursor(0,0);
  lcd.print("target:");
  lcd.setCursor(0,1);
  lcd.print("current:");

  myStepper.setSpeed(60);
}

void move() {
  if (tar_floor > cur_floor) {
    while (tar_floor > cur_floor) {
    myStepper.step(stepsPerRevolution);
    lcd.setCursor(10,1);
    
    cur_floor++;
    lcd.print(cur_floor);
    delay(500);
    }
  }
  else if (tar_floor < cur_floor) {
    while (tar_floor < cur_floor) {
      myStepper.step(-stepsPerRevolution);
      lcd.setCursor(10,1);

      cur_floor--;
      lcd.print(cur_floor);
      delay(500);
    }
  }
}

void loop() {
  char key = keypad.getKey();

  if (key != NO_KEY) {
    tar_floor = key - '0';
    lcd.setCursor(10,0);
    lcd.print(tar_floor);
    lcd.setCursor(10,1);
    lcd.print(cur_floor);
    move();
  }
}