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

const byte ROW_NUM = 4;
const byte COLUMN_NUM = 4;

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] = { 4, 5, 18, 19 };
byte pin_column[COLUMN_NUM] = { 13, 12, 14, 27 };

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

LiquidCrystal_I2C lcd(0x27, 16, 2);

AccelStepper stepper1(1, 15, 2);

#define LIMIT_SWITCH_PIN 23  // Change this to the actual pin connected to the limit switch
const byte enPin = 4;        // EN (enable) pin for A4988 stepper motor driver

bool st1 = true;
bool waitForInput = false;
int count_input = 0;
int deep_rate = 0;
int widthrorate = 0;
String print_data[] = { "", "Dwell Time:", "DIP RATE(mm/min):", "Wait time:", "NO of cycle:", "Substate length(mm)", "Press * to start" };
int set_speed = 200;
bool widthrorate_st = false;
int solution_hight = 0;
int substrate_length = 0;
int no_of_cycle = 0;
int waiting_time = 0;
int distance_dip = 0;
int dwell_time = 0;
int h = 0;
int count_withdraw = 0;

int solution_h = 0;
int dip_rate = 0;
int onoff_switch = 0;
int no_of_cycle_bly = 0;
int substrate_length_bly = 0;

int factor_mm = 1;

bool motor_st = false;

bool withdra_st=false;
int wi=0;

void setup() {
  Serial.begin(9600);
  pinMode(enPin, OUTPUT);
  pinMode(LIMIT_SWITCH_PIN, INPUT_PULLUP);
  Wire.begin();
  lcd.begin(16, 2);
  lcd.setBacklight(255);

  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Calibrating..");

 while (1) {
    stepper1.setMaxSpeed(1000);
    stepper1.setAcceleration(1000 / 2);
    stepper1.moveTo(factor_mm * 20*1000);
    stepper1.run();
    if (digitalRead(LIMIT_SWITCH_PIN) == 0) {
      break;
    }
  }
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("WELCOME TO DIG");
  lcd.setCursor(0, 1);
  lcd.print("SOL-GEL SYSTEM");
  stepper1.setCurrentPosition(0);
  digitalWrite(enPin, HIGH);
}


void loop() {
char key = keypad.getKey();

  if (key) {
    if (key == 'A') {
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Solution H. mm");
      count_input = 0;
      solution_hight = 0;
      distance_dip = 0;
      dwell_time = 0;
      waiting_time = 0;
      no_of_cycle = 0;
      deep_rate = 0;
      substrate_length = 0;
      waitForInput = true;

    } else if (key == '#') {
      lcd.clear();
      count_input++;
      lcd.setCursor(0, 0);
      lcd.print(print_data[count_input]);
      if (count_input >= 8) {
        count_input = 0;
        waitForInput = false;
      }
    } else if (key == '*') {
      float cm = distance_dip / (factor_mm);
      digitalWrite(enPin, LOW);
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Dipping...");
      lcd.setCursor(0, 1);
      lcd.print(cm);
      lcd.print("mm");
      dip_function(deep_rate);
      count_input = 0;
      st1 = false;
    }
  }

  if (waitForInput && isDigit(key)) {

    if (count_input == 0) {
      solution_hight = put_func(solution_hight, key);
      distance_dip = (200 - solution_hight) * factor_mm;
    }
    if (count_input == 1) {
      dwell_time = put_func(dwell_time, key);
    }
    if (count_input == 2) {
      deep_rate = put_func(deep_rate, key);
    }
    if (count_input == 3) {
      waiting_time = put_func(waiting_time, key);
    }
    if (count_input == 4) {
      no_of_cycle = put_func(no_of_cycle, key);
    }
    if (count_input == 5) {
      substrate_length = put_func(substrate_length, key);
    }
  }

  while (!st1) {

    stepper1.moveTo(-distance_dip);
    stepper1.runToPosition();

    for (int i = dwell_time; i >= 0; i--) {
      lcd.setCursor(0, 0);
      lcd.print("Dwell Time:");
      lcd.setCursor(0, 1);
      lcd.print(i);
      lcd.print(" sec. ");
      delay(1000);
      if (i == 0) {
        widthrorate_st = true;
        h = stepper1.currentPosition();
      }
    }

    while (widthrorate_st) {
      count_withdraw++;
      if (count_withdraw > no_of_cycle) {
        if(withdra_st)
       {
        digitalWrite(enPin, LOW);
         lcd.clear();
         lcd.setCursor(0, 0);
         lcd.print("Withdrawing...");
         lcd.setCursor(0, 1);
         lcd.print(wi);
         dip_function(wi);
         withdra_st=false;
       }
        stepper1.moveTo(0);
        stepper1.runToPosition();
        if (stepper1.currentPosition() == 0) {
          digitalWrite(enPin, HIGH);
          stepper1.setCurrentPosition(0);
          lcd.clear();
          lcd.setCursor(0, 0);
          lcd.print("Thank you.");
          lcd.setCursor(0, 1);
          lcd.print("Press * to start");
          count_input = 0;
          widthrorate_st = false;
          st1 = true;
          count_withdraw = 0;
          break;
        }
      }

      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Withdrawing...");
      digitalWrite(enPin, LOW);
      stepper1.moveTo(h + substrate_length * factor_mm);
      stepper1.runToPosition();

      lcd.clear();

      for (int i = waiting_time; i >= 0; i--) {
        digitalWrite(enPin, HIGH);

        lcd.setCursor(0, 0);
        lcd.print("Wait time..");
        lcd.setCursor(0, 1);
        lcd.print(i);
        lcd.print(" sec. ");
        delay(1000);
      }

      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Dipping...");

      digitalWrite(enPin, LOW);
      stepper1.moveTo(h);
      stepper1.runToPosition();

      lcd.clear();

      for (int i = dwell_time; i >= 0; i--) {
        digitalWrite(enPin, HIGH);
        lcd.setCursor(0, 0);
        lcd.print("Dwell Time:");
        lcd.setCursor(0, 1);
        lcd.print(i);
        lcd.print(" sec. ");
        delay(1000);
      }
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("No of cycle:");
      lcd.setCursor(0, 1);
      lcd.print(count_withdraw + 1);
      digitalWrite(enPin, LOW);
      delay(1000);
    }
  }
}

void dip_function(int a) {
  int ai = abs((a * factor_mm) / 60);
  stepper1.setMaxSpeed(ai);
  stepper1.setAcceleration(ai / 2);
}

int put_func(int &variable, char key) {
  variable = variable * 10 + (key - '0');
  lcd.setCursor(0, 1);
  lcd.print(variable);
  return variable;
}