/*  IR Controlled Linear Motion Machine

Created by TaeganTheZombie on 6-16-2019

Using bits from the following sources:
  Motor Homing code using AccelStepper and the Serial Monitor
    https://www.brainy-bits.com/setting-stepper-motors-home-position-using-accelstepper/
  And bits from his IR Receiver code
    https://www.brainy-bits.com/ir-remote-arduino/
  Both created by Yvan / https://Brainy-Bits.com
*/
#include "IRremote.h"
#include "AccelStepper.h" 

/*-----( Constants )-----*/
#define dir_pin 2  // NANO Pin connected to DIR pin of Driver
#define step_pin 3  // NANO Pin connected to STEP pin of Driver
#define receiver 4  // Signal Pin of IR receiver to Arduino Digital Pin
#define home_switch 5  // Pin connected to Home Switch (MicroSwitch)
#define beep_pin 10  // Digital Pin used for different Beep Tones
const int stepsPerMM = 200;  // Steps per MM of linear travel, [(Steps per rotation)/(Leadscrew Lead in MM)]
const int maxLength = 400;  // Maximum linear movement in MM, Software endstop
const int speedLimit = 2000;  // Top limit for speed
const float incriment = 10.0;  // Number of incriments to use for the IR Remote controlled speed and length

/*-----( Variables )-----*/
float maxSteps = (maxLength*stepsPerMM);  // Max Length in steps, taken from constants
int program = 0;  // Program number to run

int remoteLength = 1;  // Used to store the length setting, set by IR Remote, from 0-10
float currentLength = ((float)maxSteps/incriment)*remoteLength;  // Set current stroke length, in steps, using remoteLength as a scale

int remoteSpeed = 1;  // Used to store the speed setting, set by IR Remote, from 0-10
float currentSpeed = ((float)speedLimit/incriment)*remoteSpeed;  // Set current speed, using remoteSpeed as a scale
float currentAccel = currentSpeed*0.75;  // Acceleration to use, currently 3/4 of speed

long initial_homing = -1;  // Used to Home Stepper at startup


/*-----( Declare objects )-----*/
IRrecv irrecv(receiver);     // create instance of 'irrecv'
decode_results results;      // create instance of 'decode_results'
AccelStepper stepperX(1, step_pin, dir_pin);   // 1 = Driver interface
                                  // NANO Pin 3 connected to STEP pin of Driver
                                  // NANO Pin 2 connected to DIR pin of Driver
     
void setup(){    /*----( SETUP: RUNS ONCE )----*/

   Serial.begin(9600);  // Start the Serial monitor with speed of 9600 Bauds
   //pinMode(home_switch, INPUT_PULLUP);  // Set Home switch pin
   delay(5);  // Wait for Driver wake up
   irrecv.enableIRIn(); // Start the IR receiver
   homeAxis();  // Home and set acceletation and speed
   
}/*--(end setup )---*/

void loop(){    /*----( LOOP: RUNS CONSTANTLY )----*/

if (!digitalRead(home_switch)) {
  homeAxis();
}
else{  // While home switch is not pressed, do these things:

// IR Section
  if (irrecv.decode(&results))  // have we received an IR signal?
  {
    translateIR(); 
    irrecv.resume(); // receive the next value
  } 

// Stepper Section

  runProgram();  // Runs whatever program is selected





}

  stepperX.run();  // Move Stepper

}/* --(end main loop )-- */

/*-----( Functions )-----*/

void runProgram() {  // Call to run program, selected by IR Remote

  switch (program){
    case 0: stepperX.moveTo(0); break;  // Program 0, does nothing
    case 1:  // Program 1
      if (stepperX.targetPosition() != currentLength && stepperX.isRunning() == false){
        stepperX.moveTo(currentLength);
      }
      else if (stepperX.targetPosition() != 0 && stepperX.isRunning() == false) {
        stepperX.moveTo(0);
      }
    break;  // End Program 1
    case 2: break;  // Program 2
    case 3: break;  // Program 3
    case 4: break;  // Program 4
    case 5: break;  // Program 5
    case 6: break;  // Program 6
    case 7: break;  // Program 7
    case 8: break;  // Program 8
    case 9: break;  // Program 9
    case 10: break;  // Program 10
  }

}


void homeAxis() {  // Homes and sets zero, then sets speed and acceleration

  stepperX.setMaxSpeed(600.0);      // Set Max Speed of Stepper homing stage 1
  stepperX.setAcceleration(500.0);  // Set Acceleration of Stepper

  while (digitalRead(home_switch)) {  // Make the Stepper move CCW until the switch is activated   
    stepperX.moveTo(initial_homing);  // Set the position to move to
    initial_homing--;  // Decrease by 1 for next move if needed
    stepperX.run();  // Start moving the stepper
  }
  delay(5);
  stepperX.setCurrentPosition(0);  // Set the current position as zero for now
  stepperX.setMaxSpeed(300.0);      // Set Max Speed of Stepper homing stage 2
  stepperX.setAcceleration(200.0);  // Set Acceleration of Stepper
  initial_homing=1;

  while (!digitalRead(home_switch)) { // Make the Stepper move CW until the switch is deactivated
    stepperX.moveTo(initial_homing);  
    stepperX.run();
    initial_homing++;
  }
  stepperX.setCurrentPosition(0);
  stepperX.setMaxSpeed(currentSpeed);      // Set Max Speed of Stepper (Faster for regular movements)
  stepperX.setAcceleration(currentAccel);  // Set Acceleration of Stepper
}

void singleBeep(){
  tone(beep_pin, 880, 200);
}

void longBeep(){
  tone(beep_pin, 880, 200);
  tone(beep_pin, 440, 200);
}

void button_up(){
  if (remoteSpeed >= 10){  // Check if speed is already at 10 (or above)
    remoteSpeed = 10;  // Set to 10, incase above 10
    longBeep();  // Long beep because setting is at max
    stepperX.setMaxSpeed(currentSpeed);      // Set Max Speed of Stepper
    stepperX.setAcceleration(currentAccel);  // Set Acceleration of Stepper
  }
  else{  // If speed is less than 10
    remoteSpeed++;  // Increase speed by 1
    singleBeep();  // Beep for feedback response
    stepperX.setMaxSpeed(currentSpeed);      // Set Max Speed of Stepper
    stepperX.setAcceleration(currentAccel);  // Set Acceleration of Stepper
  }
}

void button_down(){
  if (remoteSpeed <= 0){  // Check if speed is already at 0 (or below)
    remoteSpeed = 0;  // Set to 0, incase below 0
    longBeep();  // Long beep because setting is at min
    stepperX.setMaxSpeed(currentSpeed);      // Set Max Speed of Stepper
    stepperX.setAcceleration(currentAccel);  // Set Acceleration of Stepper
  }
  else{  // If speed is more than 0
    remoteSpeed--;  // Decrease speed by 1
    singleBeep();  // Beep for feedback response
    stepperX.setMaxSpeed(currentSpeed);      // Set Max Speed of Stepper
    stepperX.setAcceleration(currentAccel);  // Set Acceleration of Stepper
  }
}

void button_right(){
  if (remoteLength >= 10){  // Check if length is already at 10 (or above)
    remoteLength = 10;  // Set to 10, incase above 10
    longBeep();  // Long beep because setting is at max
  }
  else{  // If length is less than 10
    remoteLength++;  // Increase length by 1
    singleBeep();  // Beep for feedback response
  }
}

void button_left(){
  if (remoteLength <= 0){  // Check if length is already at 0 (or below)
    remoteLength = 0;  // Set to 0, incase below 0
    longBeep();  // Long beep because setting is at min
  }
  else{  // If length is more than 0
    remoteLength--;  // Decrease length by 1
    singleBeep();  // Beep for feedback response
  }
}

void translateIR(){ // Takes action based on IR code received
  switch(results.value){
    case 0x3D9AE3F7: button_up(); break;  // Up
    case 0x8C22657B: button_left();    break;  // Left
    case 0x488F3CBB: program = 10; singleBeep();    break;  // OK button, program 10
    case 0x449E79F: button_right();   break;  // Right
    case 0x1BC0157B: button_down(); break;  // Down
    case 0xE318261B: program = 1; singleBeep();    break;  // 1
    case 0x511DBB:   program = 2; singleBeep();    break;  // 2
    case 0xEE886D7F: program = 3; singleBeep();    break;  // 3
    case 0x52A3D41F: program = 4; singleBeep();    break;  // 4
    case 0xD7E84B1B: program = 5; singleBeep();    break;  // 5
    case 0x20FE4DBB: program = 6; singleBeep();    break;  // 6
    case 0xF076C13B: program = 7; singleBeep();    break;  // 7
    case 0xA3C8EDDB: program = 8; singleBeep();    break;  // 8
    case 0xE5CFBD7F: program = 9; singleBeep();    break;  // 9
    case 0xC101E57B: longBeep(); homeAxis();    break;  // * button homes axis
    case 0x97483BFB: program = 0; singleBeep();    break;  // 0
    case 0xF0C41643: longBeep(); homeAxis();    break;  // # button also homes
  }
}