// Include libs
#include <Arduino.h>
#include <LiquidCrystal_I2C.h>
#include "Wire.h"
#include <AccelStepper.h>
#include "ESPRotary.h"
#include "Button2.h"

// Include Header Files
#include "configuration.h"
#include "globals.h"
#include "rotary_encoder.h"
#include "lcd_Display.h"
#include "stepper.h"
#include "my_eeprom.h"


ESPRotary r;                                                  // Rotary Encoder Instanz erstellen
Button2 btn_rotary;                                           // Btn2 Instanz für Button am Rotary erstellen

//LCDDisplay lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES); 
LCDDisplay lcd;                                               // LCD Display Instanz erstellen

// Pins entered in sequence IN1-IN3-IN2-IN4 for proper step sequence
AccelStepper unipolar(MotorInterfaceType_unipolar, IN1_PIN, IN3_PIN, IN2_PIN, IN4_PIN); // Unipolar Stepper Motor Intsanz erstellen

AccelStepper bipolar(MotorInterfaceType_bipolar, stepPin, dirPin);                      // Bipolar Stepper Motor Intsanz erstellen

// Status Menue Position
byte MENUE_POS = MENUE_HAUPTANZEIGE;

// Je loop wird der Entsprechende Step ausgefährt
byte loop_step = 0;

//uint32_t previousMillis;
unsigned long previousMillis;

boolean eingabe_aktiv           = false;
boolean spoolen_aktiv           = false;
boolean winder_in_startposition = true;
boolean winder_aktiv            = false;
boolean spoolen_stop_aktiv      = false;
boolean speed_fast_aktiv        = false;
boolean manuell_aktiv           = false;
byte unipolar_EnPin             = LOW;       // HIGH = ON / LOW = OFF
byte bipolar_EnPin              = LOW;      // HIGH = ON / LOW = OFF

// Nema Stepper wird bei High = OFF und Low = ON
// digitalWrite(EnPin, HIGH);

long spulen_sollwert        = 0;       // mm Menue 0 nur Anzeige und Menue 1 für Eingabe
long spulen_istwert         = 0;       // step Menue 0 nur Anzeige, Menue 2 für vor und zurück bewegen und Menue 7 RESET
long winder_istwert         = 0;       // mm Menue 3
long winder_startposition   = 0;       // mm Ausgangsposition für Winder
int spulen_breite           = 50;      // mm Menue 4 Endposiotion für Winder
int spulen_durchmesser      = 75;      // mm Menue 5
byte bipolar_one_rotation   = 2;      // Menue 13

double spule_istposition    = 0.00;    // Variable zum Berechen von Schritte in mm
int spule_windungen         = 0;       // Anzahl an Umdrehungen

// Vorgabewerte werden im EEprom gespeichert und können geändert werden
byte bipolar_speed_slow     = 10;       
byte bipolar_speed_fast     = 40;
byte unipolar_speed_slow    = 10;        
byte unipolar_speed_fast    = 90;
byte unipolar_speed_spoolen = 70;
byte stepper_acceleration   = 50;
byte display_refresh_delay  = 200;

void setup() {
  //Serial.begin(9600);
  // bipolar Stepper Motor bei Prog. Start Ausschalten
  pinMode(EnPin, OUTPUT);
  digitalWrite(EnPin, HIGH);  // OFF

  pinMode(Endstop, INPUT_PULLUP);

  eeprom_laden();

  // LCD Display Initialisieren
  lcd.init();
  lcd.backlight();
  lcd.custom_character();

  lcd.display_print();
  lcd.display_run_stop();

  // Rotary Encoder Initialisieren
  r.begin(ROTARY_PIN1, ROTARY_PIN2, CLICKS_PER_STEP);
  r.setChangedHandler(rotate);

  // Rotary Encoder Btn Initialisieren
  btn_rotary.begin(BUTTON_PIN);
  btn_rotary.setLongClickTime(250);
  btn_rotary.setClickHandler(click);
  btn_rotary.setLongClickDetectedHandler(longClick);

  set_stepper_Acceleration();

}

void loop() {
  r.loop();
  btn_rotary.loop();

  switch (loop_step) {
    case 0:
      // unipolar Stepper run bis Ziel erreicht
      if (unipolar.distanceToGo() != 0 && digitalRead(Endstop) == HIGH) unipolar.run();
      if (manuell_aktiv == true && unipolar.distanceToGo() == 0) unipolar_off(); 
      loop_step++;  
    break;
    case 1:
      // bipolar Stepper run bis Ziel erreicht
      if (bipolar.distanceToGo() != 0) bipolar.run();
      if (manuell_aktiv == true && bipolar.distanceToGo() == 0) bipolar_off();
      loop_step++; 
    break;
    case 2:
      if (spoolen_aktiv == true) {
        //spulen_istwert = bipolar.currentPosition();
        //spule_istposition = berechne_spulen_istposition_in_mm();
        berechen_spulen_positon_werte();
        if (spule_istposition >= spulen_sollwert || spoolen_stop_aktiv == true) {
          bipolar_off();
          //unipolar_off();
          spoolen_aktiv = false;
          spoolen_stop_aktiv = false;
          lcd.display_run_stop();
          //spulen_istwert = bipolar.currentPosition();
          //spule_istposition = berechne_spulen_istposition_in_mm();
          berechen_spulen_positon_werte();
          winder_istwert = unipolar.currentPosition() / unipolar_one_rotation;
        } else {
          bipolar.move(1);
          bipolar.setMaxSpeed(bipolar_speed_fast * 10);
        }
      }
      loop_step++;
    break;
    case 3:
      if (spoolen_aktiv == true) {
        winder_istwert = unipolar.currentPosition() / unipolar_one_rotation;
        if (winder_in_startposition == true) {
          if (winder_istwert <= (spulen_breite + winder_startposition)) {
          unipolar.move(unipolar_one_rotation);
          unipolar.setMaxSpeed(unipolar_speed_spoolen * 10);
          } else {
            winder_in_startposition = !winder_in_startposition;
            spule_windungen++; 
          } 
        }

        if (winder_in_startposition == false) {
          if (winder_istwert >= winder_startposition) {
            unipolar.move(-unipolar_one_rotation);
            unipolar.setMaxSpeed(unipolar_speed_spoolen * 10);  
          } else {
            winder_in_startposition = !winder_in_startposition;
            spule_windungen++;
          }
        } 
      } else {
        if (winder_aktiv == true) {
          if (unipolar.distanceToGo() == 0) {
            unipolar_off();
            winder_aktiv = !winder_aktiv;
          }
        } 
      }
      loop_step++;  
    break;
    case 4:  // letzter loop
      if (millis() - previousMillis >= (display_refresh_delay * 10)) {
        previousMillis = millis();
      
        if (MENUE_POS == MENUE_HAUPTANZEIGE) {
          //spulen_istwert = bipolar.currentPosition();
          //spule_istposition = berechne_spulen_istposition_in_mm();
          berechen_spulen_positon_werte();
          lcd.display_print_value(spule_istposition);
        } 
      }
      loop_step = 0;  
    break;
  } 
 
}