#include <Keypad.h>
#include <LiquidCrystal.h>

// Define LCD pins (non-I2C)
const int lcdRs = 8, lcdEn = 9, lcdD4 = 10, lcdD5 = 11, lcdD6 = 12, lcdD7 = 13;
LiquidCrystal lcd(lcdRs, lcdEn, lcdD4, lcdD5, lcdD6, lcdD7);

// Define stepper motor pins
const int motorPinAPlus = 2;
const int motorPinAMinus = 3;
const int motorPinBPlus = 4;
const int motorPinBMinus = 5;

// Define keypad configuration
const byte ROWS = 4; // Four rows
const byte COLS = 4; // Four columns
char keys[ROWS][COLS] = {
  {'1','2','3','A'},
  {'4','5','6','B'},
  {'7','8','9','C'},
  {'*','0','#','D'}
};
byte rowPins[ROWS] = {6, 7, A0, A1}; // Connect to the row pinouts of the keypad
byte colPins[COLS] = {A2, A3, A4, A5}; // Connect to the column pinouts of the keypad

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

// Variables for user input
int degree = 0;
int minute = 0;
int second = 0;
bool inputCompleted = false;

void setup() {
  // Initialize LCD
  lcd.begin(20, 4);
  lcd.print("Enter Degrees:");
  lcd.setCursor(0, 1);

  // Set motor pins as output
  pinMode(motorPinAPlus, OUTPUT);
  pinMode(motorPinAMinus, OUTPUT);
  pinMode(motorPinBPlus, OUTPUT);
  pinMode(motorPinBMinus, OUTPUT);
}

void loop() {
  static String input = "";
  char key = keypad.getKey();

  if (key) {
    if (key == '#') { // '#' key indicates end of input
      parseInput(input);
      input = "";
    } else if (key == '*') { // '*' key clears the input
      input = "";
      lcd.setCursor(0, 1);
      lcd.print("                    "); // Clear line
      lcd.setCursor(0, 1);
    } else {
      input += key;
      lcd.print(key);
    }
  }

  if (inputCompleted) {
    rotateStepper(degree);
    inputCompleted = false; // Reset for next input
  }
}

void parseInput(String input) {
  int delimiter1 = input.indexOf(',');
  int delimiter2 = input.lastIndexOf(',');

  if (delimiter1 > 0 && delimiter2 > delimiter1) {
    degree = input.substring(0, delimiter1).toInt();
    minute = input.substring(delimiter1 + 1, delimiter2).toInt();
    second = input.substring(delimiter2 + 1).toInt();

    lcd.setCursor(0, 2);
    lcd.print("Degree: ");
    lcd.print(degree);
    lcd.print(" Min: ");
    lcd.print(minute);
    lcd.print(" Sec: ");
    lcd.print(second);

    inputCompleted = true;
  } else {
    lcd.setCursor(0, 2);
    lcd.print("Invalid Input");
  }
}

void rotateStepper(int degrees) {
  int steps = map(degrees, 0, 360, 0, 200); // Example mapping (200 steps per rev)

  for (int i = 0; i < steps; i++) {
    // Step sequence for bipolar motor (full stepping)
    digitalWrite(motorPinAPlus, HIGH);
    digitalWrite(motorPinAMinus, LOW);
    digitalWrite(motorPinBPlus, HIGH);
    digitalWrite(motorPinBMinus, LOW);
    delay(10);

    digitalWrite(motorPinAPlus, LOW);
    digitalWrite(motorPinAMinus, HIGH);
    digitalWrite(motorPinBPlus, HIGH);
    digitalWrite(motorPinBMinus, LOW);
    delay(10);

    digitalWrite(motorPinAPlus, LOW);
    digitalWrite(motorPinAMinus, HIGH);
    digitalWrite(motorPinBPlus, LOW);
    digitalWrite(motorPinBMinus, HIGH);
    delay(10);

    digitalWrite(motorPinAPlus, HIGH);
    digitalWrite(motorPinAMinus, LOW);
    digitalWrite(motorPinBPlus, LOW);
    digitalWrite(motorPinBMinus, HIGH);
    delay(10);
  }
}