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

const int dirPin1 = 49;
const int stepPin1 = 47;
const int dirPin2 = 53;
const int stepPin2 = 51;
const int stepsPerRevolution = 200;

LiquidCrystal lcd(9, 8, 7, 6, 5, 4);

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] = { 18, 19, 20, 21 };
uint8_t rowPins[ROWS] = { 14, 15, 16, 17 };

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

char input[4]; // Armazena a entrada do teclado

int inputCount = 0; // Contador para rastrear a entrada
 
Servo servo1,servo2,servo3,servo4,servo5,servo6;
void setup() {
  input[3]='\0';
  servo1.attach(10);
  servo2.attach(11);
  servo3.attach(12);
  servo4.attach(13);
  servo5.attach(1);
  servo6.attach(0);
  pinMode(stepPin1, OUTPUT);
	pinMode(dirPin1, OUTPUT);
  pinMode(stepPin2, OUTPUT);
  pinMode(dirPin2, OUTPUT);

  Serial.begin(9600);
  lcd.begin(16, 2);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Insira uma moeda!");
  delay(5000);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Escolha o seu ");
  lcd.setCursor(0, 1);
  lcd.print("pedido: ");
  
}

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

  if (key != NO_KEY) {
    if (key == '#') {
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Escolha o seu ");
      lcd.setCursor(0, 1);
      lcd.print("pedido: ");
      inputCount = 0;
    } else {
      if (inputCount < 3) {
        if (inputCount == 0 && (key == 'A' || key == 'B' || key == 'C')) {
          input[0] = key;
          lcd.print(key);
          inputCount++;
        } else if (inputCount > 0 && key >= '0' && key <= '9') {
          input[inputCount] = key;
          lcd.print(key);
          inputCount++;
        }
      }
      if (inputCount == 3 && key == '*') {  
        if(String(input).equals("A12")){
            lcd.clear();
            lcd.setCursor(0, 0);
            lcd.print("    Aguarde");
             lcd.setCursor(0, 1);
            lcd.print("A processar A12");
          andar_posA12();
          delay(5000);
        }    
        if(String(input).equals("A23")){
            lcd.clear();
            lcd.setCursor(0, 0);
            lcd.print("    Aguarde");
             lcd.setCursor(0, 1);
            lcd.print("A processar A23");
          andar_posA23();
          delay(5000);
        }
        if(String(input).equals("B45")){
            lcd.clear();
            lcd.setCursor(0, 0);
            lcd.print("    Aguarde");
             lcd.setCursor(0, 1);
            lcd.print("A processar A45");
          andar_posB45();
          delay(5000);
        }
        if(String(input).equals("B56")){
            lcd.clear();
            lcd.setCursor(0, 0);
            lcd.print("    Aguarde");
             lcd.setCursor(0, 1);
            lcd.print("A processar A56");
          andar_posB56();
          delay(5000);
        }
        if(String(input).equals("C78")){
            lcd.clear();
            lcd.setCursor(0, 0);
            lcd.print("    Aguarde");
             lcd.setCursor(0, 1);
            lcd.print("A processar C78");
          andar_posC78();
          delay(5000);
        }  
        if(String(input).equals("C89")){
            lcd.clear();
            lcd.setCursor(0, 0);
            lcd.print("    Aguarde");
             lcd.setCursor(0, 1);
            lcd.print("A processar C89");
          andar_posC89();
          delay(5000);
        }  
          
        delay(1000);
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("     Retire");
        lcd.setCursor(0, 1);
        lcd.print("     bebida");
        delay(5000);
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("Escolha o seu ");
        lcd.setCursor(0, 1);
        lcd.print("pedido: ");
        inputCount = 0;
      }
    }
      

    
  }
  
}

void andar_posA12(){

  digitalWrite(dirPin1, HIGH);
  digitalWrite(dirPin2, HIGH);

	// Spin motor slowly
	for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);
	}

  servo1.write(0);   // move the servo to 0 degrees
      delay(1000);        // wait for 1 second
      servo1.write(90);  // move the servo to 90 degrees
      delay(1000);        // wait for 1 second
      servo1.write(180); // move the servo to 180 degrees
      delay(1000);        // wait for 1 second

      for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);
	}

}


void andar_posA23(){

  digitalWrite(dirPin1, HIGH);
  digitalWrite(dirPin2, HIGH);

	// Spin motor slowly
	for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);
	}

  servo2.write(0);   // move the servo to 0 degrees
      delay(1000);        // wait for 1 second
      servo1.write(90);  // move the servo to 90 degrees
      delay(1000);        // wait for 1 second
      servo1.write(180); // move the servo to 180 degrees
      delay(1000);        // wait for 1 second

   for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);
	}

}

void andar_posB45(){

  digitalWrite(dirPin1, HIGH);
  digitalWrite(dirPin2, HIGH);

	// Spin motor slowly
	for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);

    
  servo3.write(0);   // move the servo to 0 degrees
      delay(1000);        // wait for 1 second
      servo1.write(90);  // move the servo to 90 degrees
      delay(1000);        // wait for 1 second
      servo1.write(180); // move the servo to 180 degrees
      delay(1000);        // wait for 1 second

   for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);
	}

  }
      
}


void andar_posB56(){

  digitalWrite(dirPin1, HIGH);
  digitalWrite(dirPin2, HIGH);

	// Spin motor slowly
	for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);

      servo4.write(0);   // move the servo to 0 degrees
      delay(1000);        // wait for 1 second
      servo1.write(90);  // move the servo to 90 degrees
      delay(1000);        // wait for 1 second
      servo1.write(180); // move the servo to 180 degrees
      delay(1000);        // wait for 1 second


      for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);


	}

}
}
void andar_posC78(){

  digitalWrite(dirPin1, HIGH);
  digitalWrite(dirPin2, HIGH);

	// Spin motor slowly
	for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);
	}

  servo5.write(0);   // move the servo to 0 degrees
      delay(1000);        // wait for 1 second
      servo1.write(90);  // move the servo to 90 degrees
      delay(1000);        // wait for 1 second
      servo1.write(180); // move the servo to 180 degrees
      delay(1000);        // wait for 1 second

    	for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);
	}
}
void andar_posC89(){

  digitalWrite(dirPin1, HIGH);
  digitalWrite(dirPin2, HIGH);

	// Spin motor slowly
	for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);
	}

    servo6.write(0);   // move the servo to 0 degrees
      delay(1000);        // wait for 1 second
      servo1.write(90);  // move the servo to 90 degrees
      delay(1000);        // wait for 1 second
      servo1.write(180); // move the servo to 180 degrees
      delay(1000);        // wait for 1 second


	for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin1, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin1, LOW);
		delayMicroseconds(2000);
    digitalWrite(stepPin2, HIGH);
		delayMicroseconds(2000);
		digitalWrite(stepPin2, LOW);
		delayMicroseconds(2000);
	}

   

}