//By:Arkan Asadil Huda
//!!!The stepper have a 1.8 to 1 gear ratio!!!

#include <LiquidCrystal_I2C.h>

#define park 17
#define dir 4
#define step 16
#define rsw 5
#define led 15
#define ENCODER_CLK 18
#define ENCODER_DT  19

LiquidCrystal_I2C lcd(0x27, 16, 2);

int deg = 0;
int trg = 0;
const float BETA = 3950;

void setup() {
  lcd.init();
  lcd.backlight();
  pinMode(step, OUTPUT);
  pinMode(dir, OUTPUT);
  pinMode(park, INPUT_PULLUP);
  pinMode(led, OUTPUT);
  pinMode(rsw, INPUT_PULLUP);
  pinMode(ENCODER_CLK, INPUT);
  pinMode(ENCODER_DT, INPUT);
  attachInterrupt(digitalPinToInterrupt(ENCODER_CLK), readEncoder, FALLING);
}

void readEncoder() {
  int dtValue = digitalRead(ENCODER_DT);
  if (dtValue == HIGH) {
    trg++;
  }
  if (dtValue == LOW) {
    trg--;
  }
}

void loop() {
  int analogValue = analogRead(2);
  float celsius = 1 / (log(1 / (4095. / analogValue - 1)) / BETA + 1.0 / 298.15) - 273.15;
  if (trg >= 360) {trg -= 360;}
  if (trg <= -1) {trg += 360;}
  if (celsius > 78) {
    lcd.setCursor(0,0);
    lcd.print("HIGH TEMPERATURE");
    lcd.setCursor(0,1);
    lcd.print(celsius);
    lcd.print(" Celsius");
    lcd.clear();
  }
  if (digitalRead(rsw) == LOW) {
    lcd.clear();
    lcd.print("Moving to: ");
    lcd.print(trg);
    lcd.print(char(223));
    digitalWrite(led, HIGH);    
    while (trg > deg) {
      digitalWrite(dir, HIGH);
      digitalWrite(step, HIGH);
      delay(100);
      digitalWrite(step, LOW);
      digitalWrite(dir, LOW);
      deg++;
    }
    while (trg < deg) {
      digitalWrite(step, HIGH);
      delay(100);
      digitalWrite(step, LOW);
      deg--;
    }
    lcd.clear();
    digitalWrite(led, LOW);
  }
  if (digitalRead(park) == LOW) {
    lcd.clear();
    lcd.print("Parking...");
    while (0 > deg) {
      digitalWrite(dir, HIGH);
      digitalWrite(step, HIGH);
      delay(100);
      digitalWrite(step, LOW);
      digitalWrite(dir, LOW);
      deg++;
    }
    while (0 < deg) {
      digitalWrite(step, HIGH);
      delay(100);
      digitalWrite(step, LOW);
      deg--;
    }
    lcd.clear();
  }
  lcd.setCursor(0,0);
  lcd.print("Current: ");
  lcd.print(deg);
  lcd.println(char(223));
  lcd.setCursor(0,1);
  lcd.print("Target: ");
  lcd.print(trg);
  lcd.println(char(223));
  delay(100);
}