//------------------------------- librarys ----------------------------------
#include <Wire.h>
//#include <rgb_lcd.h>
//#include <LiquidCrystal.h>
#include <Servo.h>
#include <Keypad.h>
#include "AccelStepper.h" 
//------------------------------- lcd ----------------------------------------
//rgb_lcd lcd;
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27,20,4);  // set the LCD address to 0x27 for a 16 chars and 2 line display
//LiquidCrystal lcd(8, 9, 4, 5, 6, 7);

//------------------------------- Stepper Variables ---------------------------
//#define stepPin 49
//#define dirPin 50
#define stepPin 51
#define dirPin 61
#define enablePin 4



long TravelX;  // Used to store the X value entered in the Serial Monitor
int move_finished=1;  // Used to check if move is completed
long initial_homing=-1;  // Used to Home Stepper at startup
AccelStepper stepperX( 1, 5, 6); 


//------------------------------- input -----------------------------------
const byte ROWS = 4;
const byte COLS = 4;
char keys[ROWS][COLS] = {
   {'1', '2', '3', 'A'},
  {'4', '5', '6', '.' },
  {'7', '8', '9', 'C'},
  {'*', '0', '#', 'D'}
};
byte rowPins[ROWS] = {13,12,11,10};
byte colPins[COLS] = {9,8,7,2};

//byte rowPins[ROWS] = {18,19,22,23};
//byte colPins[COLS] = {14,15,16,17};
Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);
char ButtonState = 0;

#define START '*'   //Maps Character inputs to logical Button Names
#define STOP  '#'
#define F1    'A'
#define F2    'B'
#define F3    'C'
#define F4    'D'
#define NOKEY  0
#define LEFT    '4'
#define RIGHT   '6'
#define UP      '2'
#define DOWN    '5'
//-------------------------------output ----------------------------------
//#define Mpos 37
//#define Mcut 38
#define Anixneusi A0
#define Cutter A1
#define Mpos A3
#define Mcut A2
#define McutOff 1
#define home_switch 3 


//------------------------------- user settings ----------------------------------
 float wireLength = 0.0;
unsigned int wireQuantity = 0;
int cuttime = 5000;
int positiontime = 2500;
int Maintimer =2500;
int Homed =1000;

bool isDecimal = false;   // A flag to indicate if the decimal point has been pressed
int decimalPart = 0;      // The decimal part of the length
int decimalPlace = 1;     // To keep track of the position of the decimal place

//------------------------------- system settings ----------------------------------
int state = 6;
int incrementSpeed = 0;
int previousWireLength = 0.0;
int previousWireQuantity = 0;
float mmPerStep = 0.003125;

void setup() {
  //Serial.begin(9600);
  lcd.init();                      // initialize the lcd 
  lcd.backlight();
  pinMode(stepPin,OUTPUT); 
  pinMode(dirPin,OUTPUT);
  pinMode(enablePin,OUTPUT);
  pinMode(Mpos,OUTPUT); 
  pinMode(Mcut,OUTPUT);
  pinMode(McutOff,OUTPUT);
  pinMode(Cutter,OUTPUT);

  pinMode(home_switch, INPUT_PULLUP);
  pinMode(Anixneusi, INPUT_PULLUP);

   //  Set Max Speed and Acceleration of each Steppers at startup for homing
  stepperX.setMaxSpeed(2000.0);      // Set Max Speed of Stepper (Slower to get better accuracy)
  stepperX.setAcceleration(500.0);  // Set Acceleration of Stepper
 
}

void loop() {
  
  if (ButtonState == STOP){
    if(state == 5){
      state = 0;
    }
    else{
      state += 1;
    }
    delay(100);
    lcd.clear();
  }
  if (ButtonState == START && state > 0 && state < 4){
    state -=1;
    delay(100);
    lcd.clear();
  }
   ButtonState = keypad.getKey();

  switch (state){


    case 0:
      homeScreen();
      break;
      //    case 1:
      //       chooseWireLength();
      //       break;
    case 1:
      handleLengthInput();
      break;
      //    case 2:
      //      chooseWireQuantity();
      //      break;
    case 2:
      handleQuantityInput();
      break;
    case 3:
      confirm();
      break;
    case 4:
      currentlyCutting();
      break;
    case 5:
      finishedCutting();
      break;
    case 6:
      Homing();
      break;
    case 7:
     MaterialFinish();
     break;
  }
 

}


void homeScreen(){
  lcd.clear();
  lcd.setCursor(5, 0);
  lcd.print("VALTZAKIS ");
    lcd.setCursor(8, 1);
  lcd.print("CNC ");
    lcd.setCursor(5, 2);
  lcd.print("MACHINERY ");
  lcd.setCursor(15, 3);
  lcd.print("NEXT>");
  delay(200);
  

}
 void Homing(){
   lcd.clear();
    lcd.setCursor(4, 0);
    lcd.print("PATHSE C GIA ");
    lcd.setCursor(6, 1);
    lcd.print("MHDENISMO");
    delay(100);
  char key = keypad.getKey();
  
  if (key == 'C')
   {
   
   //Serial.print("Stepper is Homing . . . . . . . . . . . ");
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("DIADIKASIA");
    lcd.setCursor(0, 1);
    lcd.print("MHDENISMOU");

    
  while (digitalRead(home_switch)) {  // Make the Stepper move CCW until the switch is activated   
    stepperX.moveTo(initial_homing);  // Set the position to move to
    initial_homing--;  // Decrease by 1 for next move if needed
    stepperX.run();  // Start moving the stepper
    delay(5);
       }
  


  while (!digitalRead(home_switch)) { // Make the Stepper move CW until the switch is deactivated
    stepperX.moveTo(initial_homing);  
    stepperX.run();
    initial_homing++;
    delay(5);
  }
  stepperX.setCurrentPosition(0);  // Set the current position as zero for now
  stepperX.setMaxSpeed(2000.0);      // Set Max Speed of Stepper (Slower to get better accuracy)
  stepperX.setAcceleration(1000.0);  // Set Acceleration of Stepper
  //stepperX.setCurrentPosition(2000);
  // stepperX.runToNewPosition(2000);
   delay(500);
  state=0;
 }
 /*else if ((key != NO_KEY ))
 {
    // Handle '*' key press (back)
   
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Press C to Home");
 
 }
 else if (key != (isdigit(key) ))
 {
    // Handle '*' key press (back)
   
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Press D to Home");
 
 }*/
 
 }
void chooseWireQuantity(){
  wireQuantity = changeValue(wireQuantity);

  //clear LCD if required
  if(previousWireQuantity != wireQuantity){
    lcd.clear();
    previousWireQuantity = wireQuantity;
  }
 
  //Display information on LCD
  lcd.setCursor(0, 0);
  lcd.print("POSOTHTA:" + (String)wireQuantity);
  displayNavigation();
}
void handleLengthInput() {
  
  char key = keypad.getKey();

  if (wireLength < 0.0 || wireLength > 600.0) {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("EKTOS ORIWN");
    delay(1000);
    lcd.setCursor(0, 1);
    lcd.print("EISAGETE");
    lcd.setCursor(0, 2);
    lcd.print("0 to 600 mm");
    delay(2000);

    wireLength = 0.0;
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("MHKOS: " + String(wireLength, 1) + " mm");
    delay(100);
  } else {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("MHKOS: " + String(wireLength, 1) + " mm");
    displayNavigation();

    char key = keypad.getKey();

   
    if (key == '#') {
      // Handle '#' key press (confirmation)
      state = 2; // Go to the next state for wire quantity input
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("MHKOS: " + String(wireLength, 1) + " mm");
      displayNavigation();
    } else if (key == '*') {
      // Handle '*' key press (back)
      state = 0;
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("MHKOS: " + String(wireLength, 1) + " mm");
    } else if (key == 'D') {
      // Handle 'D' key press (clear input)
      wireLength = 0.0; // Remove the decimal part
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("MHKOS: " + String(wireLength, 1) + " mm");
      displayNavigation();
    } else if (isdigit(key) || key == '.') {
      // Accumulate length input
      if (key == '.' && !String(wireLength).endsWith(".")) {
        // Check if the decimal point is pressed and not already present in the input
        // Set a flag to indicate that the next digits will be decimal digits
        wireLength = wireLength * 0.1; // Move the decimal point to the right
      } else if (isdigit(key)) {
        // Update the wire length based on the key pressed
        wireLength = wireLength * 10 + (key - '0');
      }
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("MHKOS: " + String(wireLength, 1) + " mm");
      displayNavigation();
    }
  }
}

void chooseWireLength() {
 static String inputBuffer = ""; // Buffer to store user input

  // Handle keypad input
  char key = keypad.getKey();
  if (key == NO_KEY) {
    if (key != '#') {
      // Use the '*' key to confirm the input and set the wire length
      if (inputBuffer.length() > 0) {
        // Convert the inputBuffer to a float
        wireLength = inputBuffer.toInt();
        inputBuffer = ""; // Clear the input buffer
        lcd.clear(); // Clear the LCD
        displayNavigation();
      }
    } else if (key != '*') {
      // Use the '#' key to clear the input
      inputBuffer = "";
      lcd.clear();
      displayNavigation();
    } else if (isdigit(key) && inputBuffer.length() < 6) {
      // Allow only digits and limit input to 6 characters
      inputBuffer += key;
      lcd.setCursor(0, 0);
      lcd.print("MHKOS: " + inputBuffer + "mm"); // Display the input
      lcd.setCursor(0, 1);
      lcd.print("<BACK       *CONFIRM>");
    }
  }
  else {
    lcd.setCursor(0, 0);
    lcd.print("MHKOS: " + inputBuffer + "mm"); // Display the input
    lcd.setCursor(0, 1);
    lcd.print("<BACK       *CONFIRM>");
  }
}

void handleQuantityInput() {
  lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("POSOTHTA:" + (String)wireQuantity);
  displayNavigation();
    displayNavigation();
  char key = keypad.getKey();
  if (key == '#') {
    // Handle '#' key press (confirmation)
    state = 3; // Go to the next state for wire quantity input
    lcd.clear();
    lcd.setCursor(0, 0);
  lcd.print("POSOTHTA:" + (String)wireQuantity);
  displayNavigation();
  
  } else if (key == '*') {
    // Handle '*' key press (back)
     state = 1;
    lcd.clear();
   lcd.setCursor(0, 0);
    lcd.print("POSOTHTA:" + (String)wireQuantity);
    } else if (key == 'D') {
    // Handle 'D' key press (clear input)
    wireQuantity = 0;
    lcd.setCursor(0, 0);
    lcd.print("POSOTHTA:" + (String)wireQuantity);
    displayNavigation();
     
  } else if (isdigit(key)) {
    // Accumulate length input
    wireQuantity = wireQuantity * 10 + (key - '0');
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("POSOTHTA:" + (String)wireQuantity);
    displayNavigation();
  }
}


void confirm(){
  if (wireLength != 0  &&  wireQuantity != 0)
  {
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print((String)wireLength + "mm x " + (String)wireQuantity + "pcs");
  lcd.setCursor(0, 3);
  lcd.print("<PISW");
  lcd.setCursor(11, 3);
  lcd.print("EKKINHSH>");
  delay(100);
}
else if (wireLength ==0)
{
  lcd.clear();
  lcd.setCursor(2, 0);
  lcd.print("MHKOS / POSOTHTA");
  lcd.setCursor(5, 1);
  lcd.print("MHDENIKA");
  lcd.setCursor(0, 3);
  lcd.print("<PISW");
  lcd.setCursor(11, 3);
  lcd.print("EKKINHSH>");
  delay(1500);
  state = 1;

}
else if (wireQuantity ==0)
{
  lcd.clear();
  lcd.setCursor(2, 0);
  lcd.print("MHKOS / POSOTHTA");
  lcd.setCursor(5, 1);
  lcd.print("MHDENIKA");
  lcd.setCursor(0, 3);
  lcd.print("<PISW");
  lcd.setCursor(11, 3);
  lcd.print("EKKINHSH>");
  delay(1500);
  state = 1;

}
}

void currentlyCutting(){

  int stepsToTake = wireLength/mmPerStep;

   MCutOn();
  delay(Maintimer);
  MposOff();
  delay(Maintimer);

    //Metakinisi stin epithimiti thesi
    lcd.setCursor(3, 0);
    lcd.print("METAKINHSH");
    stepperX.runToNewPosition(stepsToTake);
    delay(Maintimer); 

    
    for(int i = 0; i < wireQuantity; i++){

      if(!digitalRead(Anixneusi))
      {
        break;
      }

  MposOn();
  delay(Maintimer);
  MCutOff();
  delay(Maintimer);

     stepperX.runToNewPosition(0);
     unsigned long timeForOneCycle = millis();
     /* digitalWrite(dirPin,HIGH);
      for(int x = 0; x < stepsToTake; x++) {
        digitalWrite(stepPin,HIGH); 
        delayMicroseconds(200); 
        digitalWrite(stepPin,LOW); 
        delayMicroseconds(200); 
      }*/
    // Oloklirwsi metakinhshs
  
    lcd.setCursor(3, 0);
    lcd.print("H METAKINHSH");
    lcd.setCursor(3, 1);
    lcd.print("OLOKLIROTHIKE");

    delay(Maintimer); 
    
    MCutOn();
    delay(Maintimer);
    MposOff();
    delay(Maintimer);

    delay(Maintimer); 
    
         stepperX.runToNewPosition(stepsToTake);

    /* int stepsToTake = (float)wireLength/mmPerStep;
       digitalWrite(dirPin,LOW);
      for(int x = 0; x < stepsToTake; x++) {
        digitalWrite(stepPin,HIGH); 
        delayMicroseconds(200); 
        digitalWrite(stepPin,LOW); 
        delayMicroseconds(200); 
      }  
      */

    lcd.clear(); 
    lcd.setCursor(0,0);
    lcd.print("DIADIKASIA KOPHS");
    
    digitalWrite(Cutter,HIGH); 
    
    delay(cuttime);

    digitalWrite(Cutter,LOW); 

    lcd.clear(); 
    lcd.setCursor(0,0);
    lcd.print("H KOPH TELEIWSE");
    
    delay(Maintimer); 

    lcd.setCursor(12, 2);
    lcd.print("MCUT OFF");
    digitalWrite(Mcut,LOW);
    delayMicroseconds(positiontime); 
    lcd.setCursor(12,3);
    lcd.print("MPOS ON");
    digitalWrite(Mpos,HIGH);
    
    delay(positiontime);
    
    lcd.clear();
    lcd.setCursor(0, 2);
    lcd.print((String)(i+1) + "/" + (String)wireQuantity);
    lcd.setCursor(0, 3);

    unsigned long timeRemaining = ((millis() - timeForOneCycle)*(wireQuantity - (i+1)))/1000;
    lcd.print((String)timeRemaining + "s    ");
   // snippers.write(closedAngle);
     
  }
  wireLength = 0;
  wireQuantity = 0;
  state = 5;
}

void MposOn()
  {
    
    lcd.setCursor(12,3);
    lcd.print("MPOS ON");
    digitalWrite(Mpos,HIGH);
  }

void MposOff()
  {
    
    lcd.setCursor(12,3);
    lcd.print("MPOS OFF");
    digitalWrite(Mpos,LOW);
  }


void MCutOn()
  {
   
    lcd.setCursor(12,2);
    lcd.print("MCUT ON");
    digitalWrite(Mcut,HIGH);
    delayMicroseconds(2000);
    digitalWrite(Mcut,LOW);
  }

void MCutOff()
  {
    
    lcd.setCursor(12,2);
    lcd.print("MCUT OFF");
    digitalWrite(McutOff,HIGH);
    delayMicroseconds(2000);
    digitalWrite(McutOff,LOW);
  }

void Kopi() {
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("DIADIKASIA KOPHS");
  digitalWrite(Cutter, HIGH);
  delay(cuttime);
  digitalWrite(Cutter, LOW);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("H KOPH TELEIWSE");
  delay(Maintimer);
}


void finishedCutting(){
  lcd.clear();
  lcd.setCursor(7, 0);
  lcd.print("H KOPH ");
   lcd.setCursor(3, 1);
  lcd.print("OLOKLIROTHIKE");
  lcd.setCursor(13, 3);
  lcd.print("EMPROS>");
  delay(100);
}

void MaterialFinish(){
  lcd.clear();
  lcd.setCursor(7, 0);
  lcd.print("TO YLIKO ");
   lcd.setCursor(3, 1);
  lcd.print("TELEIWSE");
  lcd.setCursor(13, 3);
  lcd.print("EMPROS>");
  delay(100);
}


float changeValue(float currentValue){
  if (ButtonState == UP) {
    currentValue ++;
    incrementSpeed =1;
  }
  if (ButtonState == START) {
    currentValue = currentValue+0.1;
    incrementSpeed =10;
  }
  if (ButtonState == DOWN) {
    if(currentValue - incrementSpeed >= 0){
      currentValue -= incrementSpeed;
      incrementSpeed =1;
    }
    else{
      currentValue = 0;
    }
 
  }
  return currentValue;
}

void displayNavigation(){
  lcd.setCursor(0, 3);
  lcd.print("<PISW");
  lcd.setCursor(13, 3);
  lcd.print("EMPROS>");
 delay(50);
}



/* Motor Homing code using AccelStepper and the Serial Monitor
 
Created by Yvan / https://Brainy-Bits.com
This code is in the public domain...
You can: copy it, use it, modify it, share it or just plain ignore it!
Thx!



#include "AccelStepper.h" 
// Library created by Mike McCauley at http://www.airspayce.com/mikem/arduino/AccelStepper/

// AccelStepper Setup
AccelStepper stepperX( 1, 3, 2);   // 1 = Easy Driver interface
                                  // NANO Pin 2 connected to STEP pin of Easy Driver
                                  // NANO Pin 3 connected to DIR pin of Easy Driver

// Define the Pins used
#define home_switch 5 // Pin 9 connected to Home Switch (MicroSwitch)
#define enablePin 4
// Stepper Travel ariables
long TravelX;  // Used to store the X value entered in the Serial Monitor
int move_finished=1;  // Used to check if move is completed
long initial_homing=-1;  // Used to Home Stepper at startup


void setup() {
   Serial.begin(9600);  // Start the Serial monitor with speed of 9600 Bauds
   
   pinMode(enablePin,OUTPUT);
   
   pinMode(home_switch, INPUT_PULLUP);
   
   delay(5);  // Wait for EasyDriver wake up

   //  Set Max Speed and Acceleration of each Steppers at startup for homing
  stepperX.setMaxSpeed(100.0);      // Set Max Speed of Stepper (Slower to get better accuracy)
  stepperX.setAcceleration(100.0);  // Set Acceleration of Stepper
 

// Start Homing procedure of Stepper Motor at startup

  Serial.print("Stepper is Homing . . . . . . . . . . . ");

  while (digitalRead(home_switch)) {  // Make the Stepper move CCW until the switch is activated   
    stepperX.moveTo(initial_homing);  // Set the position to move to
    initial_homing--;  // Decrease by 1 for next move if needed
    stepperX.run();  // Start moving the stepper
    delay(5);
}

  stepperX.setCurrentPosition(0);  // Set the current position as zero for now
  stepperX.setMaxSpeed(100.0);      // Set Max Speed of Stepper (Slower to get better accuracy)
  stepperX.setAcceleration(100.0);  // Set Acceleration of Stepper
  initial_homing=1;

  while (!digitalRead(home_switch)) { // Make the Stepper move CW until the switch is deactivated
    stepperX.moveTo(initial_homing);  
    stepperX.run();
    initial_homing++;
    delay(5);
  }
  
  stepperX.setCurrentPosition(0);
  Serial.println("Homing Completed");
  Serial.println("");
  stepperX.setMaxSpeed(1000.0);      // Set Max Speed of Stepper (Faster for regular movements)
  stepperX.setAcceleration(1000.0);  // Set Acceleration of Stepper

// Print out Instructions on the Serial Monitor at Start
  Serial.println("Enter Travel distance (Positive for CW / Negative for CCW and Zero for back to Home): ");
}

void loop() {

 while (Serial.available()>0)  { // Check if values are available in the Serial Buffer

  move_finished=0;  // Set variable for checking move of the Stepper
  
  TravelX= Serial.parseInt();  // Put numeric value from buffer in TravelX variable
  if (TravelX < 0 || TravelX > 1350) {  // Make sure the position entered is not beyond the HOME or MAX position
    Serial.println("");
    Serial.println("Please enter a value greater than zero and smaller or equal to 1350.....");
    Serial.println("");
  } else {
    Serial.print("Moving stepper into position: ");
    Serial.println(TravelX);
  
  stepperX.moveTo(TravelX);  // Set new moveto position of Stepper
  
  delay(1000);  // Wait 1 seconds before moving the Stepper
  }
  }

  if (TravelX >= 0 && TravelX <= 1350) {

// Check if the Stepper has reached desired position
  if ((stepperX.distanceToGo() != 0)) {
    
    stepperX.run();  // Move Stepper into position
    
  }

// If move is completed display message on Serial Monitor
  if ((move_finished == 0) && (stepperX.distanceToGo() == 0)) {
    Serial.println("COMPLETED!");
    Serial.println("");
     Serial.println("Enter Travel distance (Positive for CW / Negative for CCW and Zero for back to Home): ");
    move_finished=1;  // Reset move variable
  }
  }
}
*/