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

#define GLED 13      // Пин для синего светодиода
#define YLED 12      // Пин для зеленого светодиода
#define RLED 11      // Пин для красного светодиода

const int dirPin = 2;
const int stepPin = 3;
unsigned long time;
int currentSpeed = 0;
AccelStepper stepper(AccelStepper::DRIVER, stepPin, dirPin);

LiquidCrystal_I2C lcd(0x27, 16, 2);

void setup() {
  lcd.init();
  lcd.backlight();
  pinMode(GLED, OUTPUT);
  pinMode(YLED, OUTPUT);
  pinMode(RLED, OUTPUT);
  Serial.begin(9600);
  stepper.setMaxSpeed(1000.0);
  stepper.setAcceleration(0.0);
}

void loop() {
  green();

  yellowAfterGreen();

  red();

  yellowAfterRed();
}

void green() {
  digitalWrite(GLED, HIGH);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("GO!");
  // stepper.setAcceleration(100.0);
  time = millis();
  while (millis() - time < 5000) {
    currentSpeed = currentSpeed + 1;
    stepper.setSpeed(currentSpeed);
    stepper.runSpeed();
    
    delay(10);
  }
}

void yellowAfterGreen() {
  digitalWrite(YLED, HIGH);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("WAIT");
  time = millis();
  while (millis() - time < 2000) {
    if (currentSpeed > 0) {
      currentSpeed = currentSpeed - 2.5;
      stepper.setSpeed(currentSpeed);
      stepper.runSpeed();
      delay(10);
    }
  }
}

void red() {
  digitalWrite(GLED, LOW);
  digitalWrite(YLED, LOW);
  digitalWrite(RLED, HIGH);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("STOP");
  currentSpeed = 0;
  stepper.stop();
  delay(5000);  // Пауза 5 секунд
}

void yellowAfterRed() {
  digitalWrite(YLED, HIGH);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("WAIT");
  time = millis();
  while (millis() - time < 2000) {
    currentSpeed = currentSpeed + 1;
    delay(10);
  }

  // Выключаем светодиоды и повторяем цикл
  digitalWrite(YLED, LOW);
  digitalWrite(RLED, LOW);
}