#include <LiquidCrystal_I2C.h>  // For the I2C LCD
#include <Keypad.h>  // For the 4x4 keypad
#include <Stepper.h>  // For the stepper motor control

// Define the LCD
LiquidCrystal_I2C lcd(0x27, 20, 4);

// Define the keypad
const byte ROWS = 4;
const byte COLS = 4;
char keys[ROWS][COLS] = {
  {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B'},
  {'7', '8', '9', 'C'},
  {'*', '0', '#', 'D'}
};
byte rowPins[ROWS] = {9, 8, 7, 6};
byte colPins[COLS] = {5, 4, 3, 2};
Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);

// Define the stepper motor
const int stepsPerRevolution = 200;  // Change this value based on your motor's specification
Stepper stepper(stepsPerRevolution,10, 11, 12, 13);  // (steps, step pin, direction pin)
// Variables
long currentPosition = 0;
long targetPosition = 0;

const int maxPoints = 1;
long points[maxPoints];
int currentPoint = 0;

void setup() {
  lcd.init();
  lcd.backlight();
  displayCurrentPoint();
}

void loop() {
  char key = keypad.getKey();
  if (key) {
    if (key >= '0' && key <= '9') {
      targetPosition = key - '0';  // Convert the key to a position in mm
      targetPosition = stepsPerRevolution;  // Adjust this value based on your stepper's specification
      points[currentPoint] = targetPosition;
      currentPoint = (currentPoint + 1) % maxPoints;
      displayCurrentPoint();
      moveToPosition(targetPosition);
    } else if (key == '#') {
      // Stop the motor and rest for 1 second
      stepper.setSpeed(60);
      delay(1000);
    }
  }
}

void moveToPosition(long target) {
  stepper.step(target - currentPosition);
  currentPosition = target;
  delay(1000);  // Rest for 1 second
}

void displayCurrentPoint() {
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Point ");
  lcd.print(currentPoint + 1);
  lcd.setCursor(0, 1);
  lcd.print("Target: ");
  lcd.print(points[currentPoint] / stepsPerRevolution);  // Convert back to mm
}