/*
Nama  : Haris Setiyo Utomo
NIM   : 21/478336/SV/19266
Kasus : Arduino PID Speed Fan Control dg Feedback Temperature Sensor (simulasi Sistem Pengering Otomatis)
*/

#include "DHT.h"
#include <Stepper.h>
#include <PID_v1.h>

#define DHTPIN 2         
#define DHTTYPE DHT22    
#define STEPS_PER_REVOLUTION 100  

DHT dht(DHTPIN, DHTTYPE);

int temperature;         
int humidity;            

int slowSpeed = 100;             // Kecepatan gerakan lambat
int driveSpeed = 1000;           // Kecepatan gerakan normal
int stepSpeed = 10;              // Kecepatan langkah motor
const int stepInterval = 1;      // Interval waktu

int leftMotorStep = 0;           // motor kiri
int rightMotorStep = 0;          // motor kanan

Stepper rightMotor(STEPS_PER_REVOLUTION, 8, 9, 10, 11);
Stepper leftMotor(STEPS_PER_REVOLUTION, 4, 5, 6, 7);

// Parameter PID
double Setpoint = 30;  
double Input, Output;
double Kp = 25, Ki = 40 , Kd = 1; // Nilai-nilai Kp, Ki, Kd untuk kontrol PID
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);

void setup() {
  Serial.begin(9600);
  dht.begin(); 
  rightMotor.setSpeed(1);
  leftMotor.setSpeed(1);
  myPID.SetMode(AUTOMATIC); 
}

void loop() {
  temperature = dht.readTemperature(); 
  humidity = dht.readHumidity();       

  Serial.print("Setpoint: ");
  Serial.print(Setpoint);
  Serial.print("°C - Temperature: ");
  Serial.print(temperature);
  Serial.print("°C - Humidity: ");
  Serial.print(humidity);
  Serial.println("%");

  Input = temperature; 

  myPID.Compute(); 

  if (temperature >= 30 && temperature <= 50) {
    slowApproach(); 
  } else if (temperature < 30 ) {
    drive(); 
  } else if (temperature >50 ) {
    halt();
  }
  rightMotor.step(rightMotorStep); 
  leftMotor.step(leftMotorStep);   

  if (humidity >= 50) {
    drive(); 
  } else {
    halt(); 
  }
  rightMotor.step(rightMotorStep); 
  leftMotor.step(leftMotorStep);   
}


void slowApproach() {
  rightMotor.setSpeed(slowSpeed);  
  leftMotor.setSpeed(slowSpeed);
  forwardM(); 
}

void drive() {
  rightMotor.setSpeed(driveSpeed);
  leftMotor.setSpeed(driveSpeed);
  forwardM(); 
}

void forwardM() {
  rightMotorStep = stepSpeed; 
  leftMotorStep = stepSpeed;  
}

void halt() {
  rightMotorStep = 0; 
  leftMotorStep = 0;  
}