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

const int trigPin1 = 41;
const int echoPin1 = 43;
const int redPin1 = 6;
const int yellowPin1 = 5;
const int greenPin1 = 4;
Servo servo1;
int lastRotatedPin1 = -1;

const int trigPin2 = 47;
const int echoPin2 = 49;
const int redPin2 = 25;
const int yellowPin2 = 27;
const int greenPin2 = 29;
Servo servo2;
int lastRotatedPin2 = -1;

const int trigPin3 = 51;
const int echoPin3 = 53;
const int redPin3 = 33;
const int yellowPin3 = 35;
const int greenPin3 = 37;
Servo servo3;
int lastRotatedPin3 = -1;

const int trigPin4 = 24;
const int echoPin4 = 26;

const byte ROWS = 4;
const byte COLS = 4;

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

byte rowPins[ROWS] = {10, 9, 8, 7};
byte colPins[COLS] = {A3, A2, A1, A0};

Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);
LiquidCrystal_I2C lcd(0x27, 16, 2);

// Payment code (replace with your desired code)
const char correctPaymentCode[] = "555555";

void setup() {
  Serial.begin(9600);
  lcd.begin(16, 2);  // Initialize the LCD
  lcd.backlight();

  servo1.attach(13);
  servo1.write(0);
  servo2.attach(12);
  servo2.write(0);
  servo3.attach(11);
  servo3.write(0);

  pinMode(trigPin1, OUTPUT);
  pinMode(echoPin1, INPUT);
  pinMode(redPin1, OUTPUT);
  pinMode(yellowPin1, OUTPUT);
  pinMode(greenPin1, OUTPUT);

  pinMode(trigPin2, OUTPUT);
  pinMode(echoPin2, INPUT);
  pinMode(redPin2, OUTPUT);
  pinMode(yellowPin2, OUTPUT);
  pinMode(greenPin2, OUTPUT);

  pinMode(trigPin3, OUTPUT);
  pinMode(echoPin3, INPUT);
  pinMode(redPin3, OUTPUT);
  pinMode(yellowPin3, OUTPUT);
  pinMode(greenPin3, OUTPUT);

  pinMode(trigPin4, OUTPUT);
  pinMode(echoPin4, INPUT);

  lastRotatedPin3 = -1; // Initialize lastRotatedPin3 here
}

void loop() {
  char key = keypad.getKey();
  if (key) {
    // Handle keypad input if needed
  }

  int distance1 = getDistance(trigPin1, echoPin1);
  int distance2 = getDistance(trigPin2, echoPin2);
  int distance3 = getDistance(trigPin3, echoPin3);
  int distance4 = getDistance(trigPin4, echoPin4);

  Serial.print("Distance 1: ");
  Serial.println(distance1);
  Serial.print("Distance 2: ");
  Serial.println(distance2);
  Serial.print("Distance 3: ");
  Serial.println(distance3);
  Serial.print("Distance 4: ");
  Serial.println(distance4);

  setColorBasedOnDistance(distance1, servo1, redPin1, yellowPin1, greenPin1, lastRotatedPin1);
  setColorBasedOnDistance(distance2, servo2, redPin2, yellowPin2, greenPin2, lastRotatedPin2);
  setColorBasedOnDistance(distance3, servo3, redPin3, yellowPin3, greenPin3, lastRotatedPin3);
}

int getDistance(int trigPin, int echoPin) {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  
  long duration = pulseIn(echoPin, HIGH);
  int distance = duration * 0.034 / 2;

  Serial.print("Duration: ");
  Serial.print(duration);
  Serial.print(" microseconds. Distance: ");
  Serial.println(distance);

  return distance;
}

void delayWithMillis(int milliseconds) {
  unsigned long startMillis = millis();
  while (millis() - startMillis < milliseconds) {
    // Do nothing, just wait
  }
}

void setColorBasedOnDistance(int distance, Servo servo, int redPin, int yellowPin, int greenPin, int &lastRotatedPin) {
  if (distance > 7) {
    if (lastRotatedPin != servo.read()) {
      digitalWrite(redPin, HIGH);
      digitalWrite(yellowPin, LOW);
      digitalWrite(greenPin, LOW);
      delayWithMillis(2000);

      for (int angle = 0; angle <= 90; angle++) {
        servo.write(angle);
        delayWithMillis(10);
      }

      delayWithMillis(2000);

      for (int angle = 90; angle >= 0; angle--) {
        servo.write(angle);
        delayWithMillis(10);
      }

      digitalWrite(redPin, LOW);
      digitalWrite(yellowPin, HIGH);
      digitalWrite(greenPin, LOW);
      delayWithMillis(2000);

      digitalWrite(redPin, LOW);
      digitalWrite(yellowPin, LOW);
      digitalWrite(greenPin, HIGH);

      for (int angle = 0; angle <= 90; angle++) {
        servo.write(angle);
        delayWithMillis(10);
      }
      delayWithMillis(2000);

      lastRotatedPin = servo.read();
    }
  } else {
    digitalWrite(redPin, LOW);
    digitalWrite(yellowPin, LOW);
    digitalWrite(greenPin, HIGH);
    delayWithMillis(2000);

    for (int angle = 0; angle <= 90; angle++) {
        servo.write(angle);
        delayWithMillis(10);
      }
      delayWithMillis(2000);
  }

  if (lastRotatedPin != -1) {
    lastRotatedPin = -1;
    servo.write(0);
    delayWithMillis(10);
  }
}