#include <TM1637Display.h>
#include  <LiquidCrystal_I2C.h>
#include <Servo.h>
#include  <Wire.h>


#define SERVO_PIN 7
#define CLK 9
#define DIO 10
#define IR_SENSOR 2
#define POTENTIOMETER A0 
#define SW_PIN 4
#define STIR_TIME 5000
//initialize the liquid crystal library
//the first parameter is  the I2C address
//the second parameter is how many rows are on your screen
//the  third parameter is how many columns are on your screen
LiquidCrystal_I2C lcd(0x27,  16, 2);
TM1637Display display = TM1637Display(CLK, DIO);
Servo myservo;
const int maxspeed = 700;
int speed;
const int stop = 1500;
void setup() {
  Serial.begin(9600);
  init_lcd();
  init_speed();
  init_display();
  init_ir();
  init_servo();
  init_switch();
}
void loop() {
//test_all(); 
 main_logic(); 
}
void main_logic()
{
  speed=get_speed();
  if (is_cup())
  {
    lcd.clear();
    lcd.setCursor(0,0);
    lcd.print("speed: ");
    lcd.print(speed);

  }
  else 
  {
    lcd.clear();
     lcd.setCursor(0,0);
    lcd.print("place your cup");
  }
if (button_pushed() && is_cup())
{
 stir_cup(get_speed(),STIR_TIME);
  lcd.clear();
  lcd.print("take your cup");
}
}


// main logic
bool is_cup()
{
  return digitalRead(IR_SENSOR);
}
bool button_pushed()
{
  return digitalRead(SW_PIN);
}
int get_speed()
{
 int val=analogRead(POTENTIOMETER);
 val=map(val,0,1023,0,255);
 return val; 
}
void stir_cup(int speed,int wait)
{
  rotate( speed );
  int counter=wait/1000;
  for (int i=counter;i>0;i--)
  {
  display.showNumberDec(i);
  delay(1000); 
  display.clear();
  }
  rotate(0);
}
// init
void init_lcd()
{
//initialize lcd screen
  lcd.init();
  // turn on the backlight
  lcd.backlight();
}
void init_speed()
{
  pinMode(POTENTIOMETER, INPUT);
} 
void init_display()
{
   display.clear();
  display.setBrightness(7); // set the brightness to 7 (0:dimmest, 7:brightest)
}
void  init_ir()
{
   pinMode(IR_SENSOR, INPUT);
}
void init_servo()
{
  myservo.attach(SERVO_PIN);
}
void init_switch()
{
   
   pinMode(SW_PIN, INPUT);
}
//test
void test_all()
{
//test_lcd();
//test_speed(); 
//test_display(); 
//test_ir();
//test_servo();
test_switch();
}
void test_lcd()
{
//wait  for a second
  delay(1000);
  // tell the screen to write on the top row
  lcd.setCursor(0,0);
  // tell the screen to write “hello, from” on the top  row
  lcd.print("eee");
  // tell the screen to write on the bottom  row
  lcd.setCursor(0,1);
  // tell the screen to write “Arduino_uno_guy”  on the bottom row
  // you can change whats in the quotes to be what you want  it to be!
  lcd.print("eee");
}
void test_speed()
{
int val=analogRead(POTENTIOMETER);
lcd.clear();
lcd.setCursor(0,0);
 lcd.print(val); 
}
void test_display()
{
  int i;
  for (i = 0; i < 10; i++) {
    display.showNumberDec(i);
    delay(500);
  display.clear();
  }
}
void test_ir()
{
  Serial.print("IR obstacle: ");
  Serial.println(digitalRead(IR_SENSOR));
  delay(500);
}
void test_servo()
{
  Serial.println("Stop");
  rotate(0);
  delay(5000);
  Serial.println("minus");
  rotate(-100);
   delay(5000);
  Serial.println("Stop");
  rotate(0);
   delay(5000);
  Serial.println("plus");
  rotate(+100);
   delay(5000);
}
void test_switch()
{
   bool Switch_Pushed = digitalRead(SW_PIN);
   Serial.print("switch is: ");
   Serial.println(Switch_Pushed);
}
//servo
void rotate(int speed) {
  speed = map(speed, -100, +100, stop - maxspeed, stop + maxspeed);
  myservo.writeMicroseconds(speed);

}