//Including Libraries
#include <LiquidCrystal.h>

// Declaring Pin Variables for stepper
byte direction_pin = 8;
byte step_pin = 9; 
byte led_pin = 13;

//Declaring Pin Variables for buttons
byte slice_pos_pin = 14; //for moving the motor forward 1 cushion thickness
byte slice_neg_pin = 15; //for moving the motor backward 1 cushion thickness
byte jog_pos_pin = 16; //for moving the motor 1 step forward
byte jog_neg_pin = 17; //for moving the motor 1 step backward
byte slice_inc_pin = 18; //for increasing the size of the movement per slice command
byte slice_dec_pin = 19; //for decreasing the size of the movement per slice command

//Declaring Pin Variables for LCD 
const int rs=12;
const int en=11;
const int d4=7;
const int d5=6;
const int d6=5;
const int d7=4;

//Declaring Pin Checks
byte slice_pos_check;
byte slice_neg_check;
byte jog_pos_check;
byte jog_neg_check;
byte slice_inc_check;
byte slice_dec_check;

// Declaring Step Parameters
int num_steps_slice; //Steps
int num_steps_jog = 1; //Steps
int pulse_width_time = 500; //Microseconds
int pulse_width_delay = 250; //Microseconds
int inter_request_delay = 50; //Milliseconds

//Declaring and establishing LCD
LiquidCrystal lcd(rs,en,d4,d5,d6,d7);

// Declaring Step Count and distance variables
long step_count; //Steps
float screw_position; //Millimeters
float slice_movement; //Millimeters

void setup() {
  //Setting Baud Rate
  Serial.begin(9600);

  //Setting the number of columns and rows in the LCD respectively
  lcd.begin(16,2);
  
  //Formatting the sceem
  lcd.setCursor(9,0);
  lcd.print("mm");
  lcd.setCursor(9,1);
  lcd.print("mm");
  //Setting Pin Modes for inputs and outputs
  pinMode(direction_pin,OUTPUT);
  pinMode(step_pin,OUTPUT);
  pinMode(led_pin,OUTPUT);
  pinMode(slice_pos_pin,INPUT_PULLUP);
  pinMode(slice_neg_pin,INPUT_PULLUP);
  pinMode(jog_pos_pin,INPUT_PULLUP);
  pinMode(jog_neg_pin,INPUT_PULLUP);
  pinMode(slice_inc_pin,INPUT_PULLUP);
  pinMode(slice_dec_pin,INPUT_PULLUP);

  //Turning off LED at the start
  digitalWrite(led_pin, LOW);
  
  // Setting step count to zero
  step_count = 0;
  // Setting number of steps in a slice movement to default
  num_steps_slice=378;
}

void loop() {
  //Checking for positive slice movement request
  slice_pos_check=digitalRead(slice_pos_pin);
  //Checking for negative slice movement request
  slice_neg_check=digitalRead(slice_neg_pin);
  //Checking for positive jog movement request
  jog_pos_check=digitalRead(jog_pos_pin);
  //Checking for negative jog movement request
  jog_neg_check=digitalRead(jog_neg_pin);
  //Checking for an increase slice movement request
  slice_inc_check=digitalRead(slice_inc_pin);
  //Checking for a decrease slice movement request
  slice_dec_check=digitalRead(slice_dec_pin);

  // Serial.println(" ");
  // Serial.println(" ");
  // Serial.println(" ");
  // Serial.println(" ");
  // Serial.println("slice_pos_check");
  // Serial.println(slice_pos_check);
  // Serial.println("slice_neg_check");
  // Serial.println(slice_neg_check);
  // Serial.println("jog_pos_check");
  // Serial.println(jog_pos_check);
  // Serial.println("jog_neg_check");
  // Serial.println(jog_neg_check);
  // Serial.println("slice_inc_check");
  // Serial.println(slice_inc_check);
  //  Serial.println("slice_dec_check");
  // Serial.println(slice_dec_check);
  // Serial.println("step_count");
  // Serial.println(step_count);
  // Serial.println("screw_position");
  // Serial.println(screw_position);
  
  
  //Running positive slice movement request
  if (slice_pos_check == LOW) {
    //Setting direction to positive motion
    digitalWrite(direction_pin,HIGH);
    //Sending signal to move with pulses and adding to the step count
    for (int a = 0; a < num_steps_slice ; a++,step_count++) {
      digitalWrite(step_pin,HIGH);
      delayMicroseconds(pulse_width_time);
      digitalWrite(step_pin,LOW);
      delayMicroseconds(pulse_width_delay);
      //Flashing LED pin to indicate movement
      digitalWrite(led_pin, !digitalRead(led_pin));
    }
    //Making sure LED is off once movement is complete
    digitalWrite(led_pin,LOW);
    delay(inter_request_delay);
  }
  else {
  }
  
 
  //Running negative slice movement request
  if (slice_neg_check == LOW) {
    //Setting direction to negative motion
    digitalWrite(direction_pin,LOW);
    //Sending signal to move with pulses and subtracting from the step count
    for (int a = 0; a < num_steps_slice ; a++,step_count--) {
      digitalWrite(step_pin,HIGH);
      delayMicroseconds(pulse_width_time);
      digitalWrite(step_pin,LOW);
      delayMicroseconds(pulse_width_delay);
      //Flashing LED pin to indicate movement
      digitalWrite(led_pin, !digitalRead(led_pin));
    }
    //Making sure LED is off once movement is complete
    digitalWrite(led_pin,LOW);
    delay(inter_request_delay);
  }
  else {
  }
  
  
  //Running positive jog movement request
  if (jog_pos_check == LOW) {
    //Setting direction to positive motion
    digitalWrite(direction_pin,HIGH);
    //Sending signal to move with pulses and adding to the step count
    for (int a = 0; a < num_steps_jog ; a++,step_count++) {
      digitalWrite(step_pin,HIGH);
      delayMicroseconds(pulse_width_time);
      digitalWrite(step_pin,LOW);
      delayMicroseconds(pulse_width_delay);
      //Flashing LED pin to indicate movement
      digitalWrite(led_pin, !digitalRead(led_pin));
    }
    //Making sure LED is off once movement is complete
    digitalWrite(led_pin,LOW);
    delay(inter_request_delay);
  }
  else {
  }
  
  
  //Running negative jog movement request
  if (jog_neg_check == LOW) {
    //Setting direction to negative motion
    digitalWrite(direction_pin,LOW);
    //Sending signal to move with pulses and subtracting from the step count
    for (int a = 0; a < num_steps_jog ; a++,step_count--) {
      digitalWrite(step_pin,HIGH);
      delayMicroseconds(pulse_width_time);
      digitalWrite(step_pin,LOW);
      delayMicroseconds(pulse_width_delay);
      //Flashing LED pin to indicate movement
      digitalWrite(led_pin, !digitalRead(led_pin));
    }
    //Making sure LED is off once movement is complete
    digitalWrite(led_pin,LOW);
    delay(inter_request_delay);
  }
  else {
  }
  
  //Running increase slice movement request
  if (slice_inc_check == LOW) {
    //incrementing the number of steps in a slice by 1
    num_steps_slice++;
    delay(inter_request_delay);
  }
  else {
  }

  //Running decrease slice movement request
  if (slice_dec_check == LOW) {
    //decrementing the number of steps in a slice by 1
    num_steps_slice--;
    delay(inter_request_delay);
  }
  else {
  }

  //Converting step count (steps) into screw_position (mm)
  screw_position = step_count * 0.0079375;
  slice_movement = num_steps_slice * 0.0079375;

  //Sending screw position to LCD
  lcd.setCursor(0,0);
  lcd.print(screw_position);
  lcd.setCursor(0,1);
  lcd.print(slice_movement);

  delay(100);
}