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

// Define the step and direction pins
#define STEP_PIN 2
#define DIR_PIN 3
#define movePin 13  // Built-in LED on most Arduino boards
// Define the I2C address of the LCD display
#define LCD_ADDRESS 0x27

// Define the number of columns and rows of the LCD display
#define LCD_COLUMNS 16
#define LCD_ROWS 2

// Create a new instance of the AccelStepper class
AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);

// Create a new instance of the LiquidCrystal_I2C class
LiquidCrystal_I2C lcd(LCD_ADDRESS, LCD_COLUMNS, LCD_ROWS);

// Define the button pins
const int buttonPins[] = {4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; // Use digital pins 14 and 15 for buttons

// Define the LED pins
const int ledPins[] = {A0, A1, A2, A3, A4, A5,A6 , A7, A8, A9, A10, A11}; // Use digital pins 16 and 17 for LEDs

// Define the positions
const long positions[] = {0, 400, 800, 100, 120, 1400, 160, 180, 200, 1570};

// Define the set points for each positio
const long setPoints[] = {1, 2, 3, 4,5 , 6, 7, 8, 9, 10};

// Define the button pin for resetting the stepper motor count
#define RESET_PIN 16

void setup() {
  // Set the maximum speed and acceleration
  stepper.setMaxSpeed(2000.0); // Adjust as needed
  stepper.setAcceleration(600.0); // Adjust as needed

  // Set the button pins as input
  for (int i = 0; i < 12; i++) {
    pinMode(buttonPins[i], INPUT_PULLUP);
    pinMode(ledPins[i], OUTPUT); // Set LED pins as output
   
   
   // Set the LED pin as output
  pinMode(movePin, OUTPUT);

      // Initialize the LCD display
  lcd.init();
  lcd.backlight();
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print(" ");
  lcd.setCursor(0, 1);
  lcd.print(" ");
  }
}

void loop() {
  
  // Check for button presses
  for (int i = 0; i < 10; i++) {
    if (digitalRead(buttonPins[i]) == LOW) {
      // Turn on the corresponding LED and move to the specified position
      digitalWrite(ledPins[i], HIGH); // Turn on the LED
      stepper.moveTo(positions[i]);
      digitalWrite(movePin, HIGH);  // Turn on the LED
      stepper.runToPosition();
      delay(100);
      // Turn off all other LEDs
      for (int j = 0; j < 10; j++) {
        if (j != i) {
          digitalWrite(ledPins[j], LOW); // Turn off the LED
          digitalWrite(movePin, LOW);   // Turn off the LED
        }
      
     // Update the LCD display with the current speed and position of the stepper motor
  lcd.setCursor(7, 0); // Set cursor for motor steps  
        lcd.print(stepper.currentPosition()); // Print the current position  
            lcd.setCursor(7, 0); // Set cursor for motor steps  
        lcd.print(stepper.currentPosition()); // Print the current position  
    }  

 // Check for button 14 press to control LED on pin 14
  if (digitalRead(buttonPins[10]) == LOW) {
    digitalWrite(ledPins[10], HIGH); // Turn on the LED connected to pin 14
    digitalWrite(movePin, HIGH); // Turn on the LED if motor is running
  } else {
    digitalWrite(ledPins[10], LOW); // Turn off the LED connected to pin 14
    digitalWrite(movePin, LOW); // Turn off the LED if motor is not running
    
  }

  // Check for button 15 press to control LED on pin 15
  if (digitalRead(buttonPins[11]) == LOW) {
    digitalWrite(ledPins[11], HIGH); // Turn on the LED connected to pin 15
     digitalWrite(movePin, HIGH); // Turn on the LED if motor is running
  } else {
    digitalWrite(ledPins[11], LOW); // Turn off the LED connected to pin 15
    digitalWrite(movePin, LOW); // Turn off the LED if motor is not running
  }

  // Check for button 14 press to move motor forward
  if (digitalRead(buttonPins[10]) == LOW) {
    stepper.setSpeed(2000); // Set the speed for forward movement
    stepper.runSpeed();
  } else {
    stepper.stop(); // Stop the motor if the button is not pressed
  }

  // Check for button 15 press to move motor in reverse
  if (digitalRead(buttonPins[11]) == LOW) {
    stepper.setSpeed(-200); // Set the speed for reverse movement
    stepper.runSpeed();
  } else {
    stepper.stop(); // Stop the motor if the button is not pressed
  }
     // Check for reset button press to reset the stepper motor count
  if (digitalRead(RESET_PIN) == LOW) {
    stepper.setCurrentPosition(0); // Reset the stepper motor count to zero
    stepper.stop(); // Stop the motor if the button is pressed
     lcd.init();
  lcd.backlight();
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print(" ");
  lcd.setCursor(0, 1);
  lcd.print(" ");
    }

  // When the endstop is triggered, set the current position as home (0)
  stepper.setCurrentPosition(0);

   }