#include <AccelStepper.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Keypad.h>

const byte ROW_NUM = 4;
const byte COLUMN_NUM = 4;

char keys[ROW_NUM][COLUMN_NUM] = {
  { '1', '2', '3', 'A' },
  { '4', '5', '6', 'B' },
  { '7', '8', '9', 'C' },
  { '*', '0', '#', 'D' }
};

byte pin_rows[ROW_NUM] = { 4, 5, 18, 19 };
byte pin_column[COLUMN_NUM] = { 13, 12, 14, 27 };

Keypad keypad = Keypad(makeKeymap(keys), pin_rows, pin_column, ROW_NUM, COLUMN_NUM);

LiquidCrystal_I2C lcd(0x27, 16, 2);

AccelStepper stepper1(1, 15, 2);

unsigned long st = 0;
unsigned long count_millis = 0;
bool state = false;
bool st1 = true;
bool waitForInput = false;
bool waitForInput_for_steps = false;
int steps_motor = 0;
long intervel = 0;
int count_time = 0;

void setup() {
  Serial.begin(9600);
  Wire.begin();
  lcd.begin(16, 2);
  lcd.setBacklight(255);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("LCD Initialized");
  delay(2000);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("System ready");
  stepper1.setMaxSpeed(500);
  stepper1.setAcceleration(500);
  stepper1.setCurrentPosition(0);
}

void loop() {
  char key = keypad.getKey();
  if (key) {
    if (key == 'A') {
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Steps:");
      waitForInput_for_steps = true;
    } else if (key == 'B') {
      stepper1.stop();
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Time in sec:");
      intervel = 0;
      waitForInput = true;
    } else if (key == '#') {
      lcd.setCursor(0, 1);
      lcd.print("Done");
      delay(1000);
      waitForInput = false;
      waitForInput_for_steps = false;
    } else if (key == '*') {
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Start");
      delay(1000);
      st1 = false;
    }
  }
  if (waitForInput && isDigit(key)) {
    intervel = intervel * 10 + (key - '0');
    lcd.print(key);
  }
  if (waitForInput_for_steps && isDigit(key)) {
    steps_motor = steps_motor * 10 + (key - '0');
    lcd.print(key);
  }
  while (st1 != true) {
    stepper1.moveTo(steps_motor);
    stepper1.runToPosition();

    if (stepper1.currentPosition() >= steps_motor && !state) {
      stepper1.setSpeed(500);
      state = true;
      st = millis();
      lcd.clear();
    }


    if (millis() - count_millis > 1000 && state == true) {
      count_millis = millis();
      count_time++;
      lcd.setCursor(0, 0);
      lcd.print("Time:");
      lcd.print(count_time);
    }


    if (millis() - st > (1000 * intervel) && state == true) {
      stepper1.moveTo(0);
      stepper1.runToPosition();

      if (stepper1.currentPosition() == 0 && !st1) {
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("System ready");
        st1 = true;
        state = false;
        intervel=0;
        steps_motor=0;
        count_time=0;
      }
    }
  }
}