#define BLYNK_TEMPLATE_ID "TMPL6iTkUkJ8x"
#define BLYNK_TEMPLATE_NAME "Damper control"
#define BLYNK_AUTH_TOKEN "6GMrOwd-AONOd0l-alz3abEJf2v1GMsn"

/* Comment this out to disable prints and save space */
#define BLYNK_PRINT Serial

#include <WiFi.h>
#include <ESP32Servo.h>
#include <WiFiClient.h>
#include <BlynkSimpleEsp32.h>
#include <DHT.h>
#include <LiquidCrystal.h>
#include <PID_v1.h>

// Your WiFi credentials.
char ssid[] = "Wokwi-GUEST";
char pass[] = "";

const int servo1Pin = 16;
const int servo2Pin = 22;
const int servo3Pin = 25;
const int servo4Pin = 27;
#define DHTpin 13 

int pos1=0;
int pos2=0;
int pos3=0;
int pos4=0;

int sensorpin = 34; // Define sensorpin (e.g., A0 for analog pin)

DHT dht22(DHTpin, DHT22);
Servo servo1, servo2, servo3, servo4;
LiquidCrystal lcd(19, 23, 18, 21, 5, 15); // RS, E, D4, D5, D6, D7

// Setpoints for temperature and humidity
const float tempSetpoint = 45.0;
const float humiditySetpoint = 60.0;

// PID parameters
double tempInput, tempOutput, tempSet = tempSetpoint;
double humidityInput, humidityOutput, humiditySet = humiditySetpoint;

// PID tunings (Adjust as necessary)
double Kp = 2.0, Ki = 5.0, Kd = 1.0;

// Create PID controllers for temperature and humidity
PID tempPID(&tempInput, &tempOutput, &tempSet, Kp, Ki, Kd, DIRECT);
PID humidityPID(&humidityInput, &humidityOutput, &humiditySet, Kp, Ki, Kd, DIRECT);

// Variables to track if user manually adjusts the dampers
bool manualControl1 = false;
bool manualControl2 = false;
bool manualControl3 = false;
bool manualControl4 = false;

BLYNK_WRITE(V0) // User controlling damper 1
{
  int pos1 = param.asInt();
  servo1.write(pos1 * 18);
  manualControl1 = true; // Disable PID control for damper 1
}
BLYNK_WRITE(V1)
{
  int pos2 = param.asInt();
  servo2.write(pos2 * 18);
  manualControl2 = true; // Disable PID control for damper 2
}
BLYNK_WRITE(V2)
{
  int pos3 = param.asInt();
  servo3.write(pos3 * 18);
  manualControl3 = true; // Disable PID control for damper 3
}
BLYNK_WRITE(V3)
{
  int pos4 = param.asInt();
  servo4.write(pos4 * 18);
  manualControl4 = true; // Disable PID control for damper 4
}

void setup()
{
  // Debug console
  Serial.begin(115200);

  Blynk.begin(BLYNK_AUTH_TOKEN, ssid, pass);

  // Attach servos to pins with PWM limits
  servo1.attach(servo1Pin, 500, 2400);
  servo2.attach(servo2Pin, 500, 2400);
  servo3.attach(servo3Pin, 500, 2400);
  servo4.attach(servo4Pin, 500, 2400);

  // Initialize servos to 0 position
  servo1.write(0);
  servo2.write(0);
  servo3.write(0);
  servo4.write(0);

  dht22.begin();
  delay(2000); // Allow sensor to stabilize

  lcd.begin(16, 2); // Initialize LCD with 16 columns and 2 rows
  lcd.print("TEMP: "); // Print static part
  lcd.setCursor(0, 1); // Move cursor to print humidity
  lcd.print("HUMID: ");

  // Initialize PID controllers
  tempPID.SetMode(AUTOMATIC);
  humidityPID.SetMode(AUTOMATIC);
}

void loop()
{
  // Read temperature and humidity values
  tempInput = dht22.readTemperature(); // Read temperature in Celsius
  humidityInput = dht22.readHumidity(); // Read humidity

  // Update LCD with current readings
  lcd.setCursor(6, 0); 
  lcd.print(tempInput);
  lcd.setCursor(6, 1);
  lcd.print(humidityInput);

  // Check if the sensor readings are valid
  if (isnan(tempInput) || isnan(humidityInput)) {
    Serial.println("Failed to read from DHT22 sensor!");
    return;
  }

  // If the user hasn't manually adjusted, run PID control
  if (!manualControl1) {
    tempPID.Compute();
    humidityPID.Compute();

    // Control dampers based on PID outputs (PID outputs range from 0 to 180 degrees)
    servo1.write(map(tempOutput, 0, 180, 0, 180));
    servo2.write(map(humidityOutput, 0, 180, 0, 180));
  }

  if (!manualControl2) {
    // PID control for servo2 based on temperature
    tempPID.Compute();
    servo2.write(map(tempOutput, 0, 180, 0, 180));
  }

  if (!manualControl3) {
    // PID control for servo3 based on humidity
    humidityPID.Compute();
    servo3.write(map(humidityOutput, 0, 180, 0, 180));
  }

  if (!manualControl4) {
    // PID control for servo4 based on both temperature and humidity
    tempPID.Compute();
    humidityPID.Compute();
    servo4.write(map((tempOutput + humidityOutput) / 2, 0, 180, 0, 180));
  }

  Blynk.run(); // Run Blynk code
}