#include <Button.h>
#include "LiquidCrystal_I2C.h"
#include <Keypad.h>

#define dirPin 2
#define stepPin 3
#define ledPin 13
const int stepDelay = 20000;

LiquidCrystal_I2C lcd(0x27, 16, 2);

const byte ROW_NUM    = 4; // jumlah baris keypad
const byte COLUMN_NUM = 4; // jumlah kolom keypad

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

byte pin_rows[ROW_NUM]    = {12, 11, 10, 9}; // hubungkan baris keypad ke pin digital ini
byte pin_column[COLUMN_NUM] = {8, 7, 6, 5}; // hubungkan kolom keypad ke pin digital ini

Keypad keypad = Keypad(makeKeymap(keys), pin_rows, pin_column, ROW_NUM, COLUMN_NUM);

String inputString = "";
int currentPosition = -2;  // Inisialisasi posisi awal
int A = 50;
int B = 100;
int C = 150;

void setup() {
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  lcd.init();
  lcd.backlight();
  lcd.setCursor(4, 0); lcd.print("Tugas Akhir");
  lcd.setCursor(3, 1); lcd.print("Kel 4 Kelas A");
  lcd.setCursor(2, 2); lcd.print("Stechoq Robotika");
  delay(2000);
  // Pindahkan stepper ke posisi awal (0)
  moveStepper(-currentPosition);
  //currentPosition = 0;  // Reset posisi saat ini ke 0
  lcd.clear();

  
}

void moveStepper(int steps) {
  currentPosition += steps; // Perbarui posisi saat ini
  digitalWrite(dirPin, HIGH);  // Arahkan motor stepper searah jarum jam

  for (int i = 0; i < steps; i++) {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(stepDelay);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(stepDelay);
  }

  // Beri sinyal visual dengan LED
  digitalWrite(ledPin, HIGH);
  delay(1000);
  digitalWrite(ledPin, LOW);
  delay(1000);
}

void handleButton(char button) {
  lcd.clear();
  //lcd.setCursor(0, 0); lcd.print("Input: " + String(button));
  if (button == 'A') {
    lcd.setCursor(5, 0); lcd.print("Kelompok 4");
    lcd.setCursor(2, 1); lcd.print("Stechoq Robotika");
    lcd.setCursor(0, 2); lcd.print("Cairan Obat (ml): 50");
    moveStepper(50);
  } else if (button == 'B') {
    lcd.setCursor(5, 0); lcd.print("Kelompok 4");
    lcd.setCursor(2, 1); lcd.print("Stechoq Robotika");
    lcd.setCursor(0, 2); lcd.print("Cairan Obat (ml):100");
    moveStepper(100);
  } else if (button == 'C') {
    lcd.setCursor(5, 0); lcd.print("Kelompok 4");
    lcd.setCursor(2, 1); lcd.print("Stechoq Robotika");
    lcd.setCursor(0, 2); lcd.print("Cairan Obat (ml):150");
    moveStepper(150);
  } else if (button == 'D') {
    // Hapus input dan kembalikan stepper ke posisi awal (0)
    inputString = "";
    lcd.clear();
    lcd.setCursor(5, 0); lcd.print("Kelompok 4");
    lcd.setCursor(2, 1); lcd.print("Stechoq Robotika");
    lcd.setCursor(0, 2); lcd.print("Cairan Obat (ml):");
  } else if (button == '*') {
    // Periksa apakah currentPosition sudah 0 sebelum mengubah arah stepper
    if (currentPosition > 0) {
      digitalWrite(dirPin, LOW);
      for (int i = 0; i < currentPosition; i++) {  // Perbaikan pada perulangan
        digitalWrite(stepPin, HIGH);
        delayMicroseconds(stepDelay);
        digitalWrite(stepPin, LOW);
        delayMicroseconds(stepDelay);
        lcd.clear();
        lcd.setCursor(7, 1);
        lcd.print("Reset");
      }
        delay(1000);
        lcd.clear();
        currentPosition = 0;  // Setelah reset, posisi saat ini menjadi 0
    }
  }
}


void loop() {
  char key = keypad.getKey();
  if (key) {
    if (key == '#') {
      // Jika tombol '#' ditekan, proses input
      int steps =inputString.toInt(); 
      moveStepper(steps);

      // Reset inputString setelah diproses
      inputString = "";
      lcd.clear();
      lcd.setCursor(5, 0); lcd.print("Kelompok 4");
      lcd.setCursor(2, 1); lcd.print("Stechoq Robotika");
      lcd.setCursor(0, 2); lcd.print("Cairan Obat (ml): ");
    } else if (key >= '0' && key <= '9') {
      // Jika tombol 0-9 ditekan pada keypad, tambahkan ke inputString
      inputString += key;
      lcd.clear();
      lcd.setCursor(5, 0); lcd.print("Kelompok 4");
      lcd.setCursor(2, 1); lcd.print("Stechoq Robotika");
      lcd.setCursor(0, 2); lcd.print("Cairan Obat (ml): ");
      lcd.setCursor(17,2); lcd.print(inputString);
    } else {
      // Handle tombol A, B, C, D, dan *
      handleButton(key);
    }
  }
}