#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include <LiquidCrystal_I2C.h>

Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
Adafruit_DCMotor *motor1 = AFMS.getMotor(1);

LiquidCrystal_I2C lcd(0x27, 16, 2);  // Адрес и размер ЖК-дисплея
int relayPin = 8;  // Пин для реле лампочки
int currentSpeed = 0;
bool isLightOn = false;  // Флаг состояния лампочки
const int ENA = 9;
const int IN1 = 6;
const int IN2 = 7;

void setup() 
{
  Serial.begin(9600);
  lcd.begin(16, 2);
  lcd.print("Arduino Uno");
  lcd.setCursor(0, 1);
  lcd.print("Ready!");

  AFMS.begin();  
  pinMode(relayPin, OUTPUT);

  // Выводим список команд в терминал при старте программы
  Serial.println("Available Commands:");
  Serial.println("ON - Turn On Light");
  Serial.println("OFF - Turn Off Light");
  Serial.println("FORWARD - Move Forward");
  Serial.println("BACKWARD - Move Backward");
  Serial.println("SET_SPEED_FORWARD{speed} - Set Speed Forward");
  Serial.println("SET_SPEED_BACKWARD{speed} - Set Speed Backward");
  Serial.println("MOTOR_ON - Turn On Motor");
  Serial.println("MOTOR_OFF - Turn Off Motor");
}

void loop() 
{
  readSerialCommand();
}

void readSerialCommand() 
{
  if (Serial.available() > 0) 
  {
    String command = Serial.readStringUntil('\n');
    executeCommand(command);
  }
}

void executeCommand(String command) 
{
  Serial.print("Received Command: ");
  Serial.println(command);

  if (command == "ON") 
  {
    turnOnLight();
  } 
  else if (command == "OFF") 
  {
    turnOffLight();
  } 
  else if (command == "FORWARD") 
  {
    moveForward();
  } 
  else if (command == "BACKWARD") 
  {
    moveBackward();
  }
   else if (command.startsWith("SET_SPEED_FORWARD")) 
   {
    setSpeedForward(command);
  } 
  else if (command.startsWith("SET_SPEED_BACKWARD")) 
  {
    setSpeedBackward(command);
  }
   else if (command == "MOTOR_ON")
    {
    turnOnMotor();
  }
   else if (command == "MOTOR_OFF") 
   {
    turnOffMotor();
  }

}

void turnOnLight()
 {
  Serial.println("Turning On Light");
  
  digitalWrite(relayPin, HIGH);
  isLightOn = true;
  
  lcd.clear();
  lcd.print("Light Turned On");
  lcd.setCursor(0, 1);
  lcd.print("Speed: ");
  lcd.print(currentSpeed);
}

void turnOffLight()
 {
  Serial.println("Turning Off Light");
  
  digitalWrite(relayPin, LOW);
  isLightOn = false;
  
  lcd.clear();
  lcd.print("Light Turned Off");
  lcd.setCursor(0, 1);
  lcd.print("Speed: ");
  lcd.print(currentSpeed);
}

void moveForward() 
{
  Serial.println("Moving Forward");
  Serial.print("Speed: ");
  Serial.println(currentSpeed);

  motor1->setSpeed(currentSpeed);
  motor1->run(FORWARD);

  lcd.clear();
  lcd.print("Moving Forward");
  lcd.setCursor(0, 1);
  lcd.print("Speed: ");
  lcd.print(currentSpeed);
}

void moveBackward()
 {
  Serial.println("Moving Backward");
  Serial.print("Speed: ");
  Serial.println(currentSpeed);

  motor1->setSpeed(currentSpeed);
  motor1->run(BACKWARD);

  lcd.clear();
  lcd.print("Moving Backward");
  lcd.setCursor(0, 1);
  lcd.print("Speed: ");
  lcd.print(currentSpeed);
}

void setSpeedForward(String command)
 {
  int speed = command.substring(18).toInt();
  currentSpeed = speed;

  Serial.print("Set Speed Forward: ");
  Serial.println(currentSpeed);

  lcd.clear();
  lcd.print("Speed Forward: ");
  lcd.print(currentSpeed);
}

void setSpeedBackward(String command)
 {
  int speed = command.substring(19).toInt();
  currentSpeed = speed;

  Serial.print("Set Speed Backward: ");
  Serial.println(currentSpeed);

  lcd.clear();
  lcd.print("Speed Backward: ");
  lcd.print(currentSpeed);
}

void turnOnMotor() 
{
  Serial.println("Turning On Motor");
  
  motor1->setSpeed(currentSpeed);
  motor1->run(FORWARD);
  
  lcd.clear();
  lcd.print("Motor Turned On");
  lcd.setCursor(0, 1);
  lcd.print("Speed: ");
  lcd.print(currentSpeed);
}

void turnOffMotor() 
{
  Serial.println("Turning Off Motor");
  
  motor1->run(RELEASE);
  
  lcd.clear();
  lcd.print("Motor Turned Off");
  lcd.setCursor(0, 1);
  lcd.print("Speed: ");
  lcd.print(currentSpeed);
}