#include <Wire.h> // Include Wire library for I2C communication
#include <LiquidCrystal_I2C.h> // Include LCD library
#include <AccelStepper.h>

// LCD setup: Specify I2C address and dimensions
LiquidCrystal_I2C lcd(0x27, 20, 4); 

// Pressure transducer setup
const int pressureInputPin = A0; // Analog input pin that the sensor is attached to
const float voltageMin = 0.5; // Voltage corresponding to minimum pressure (0 psi)
const float voltageMax = 4.5; // Voltage corresponding to maximum pressure (100 psi)
const float pressureMin = 0; // Minimum pressure value
const float pressureMax = 200; // Maximum pressure value

float pressure = 0; // Pressure value
float adcValue = 200; // Maximum pressure value

float target = 180; // Pressure Target - (The pressure at which the motor will turn) 
long interval = 250; // Interval to check sensor and move motor

bool isMotorMoving = false;

//#define motorE A1
//#define motorS 9
//#define motorD A3

AccelStepper stepper1(1, 9, A3); // (Typeof driver: with 2 pins, STEP, DIR)

unsigned long previousMillis = 0; //Used for the Millisdelay
 

// Function to map a floating point number from one range to another
float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) {
  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}



//---------------------------------------------------------------------------------------------------------------------------------------------------------------------
//---------------------------------------------------------------------------------------------------------------------------------------------------------------------




void setup() {

  Serial.begin(9600); // Start serial communication at 9600 bps
  pinMode(pressureInputPin, INPUT); // Set the pressure sensor pin as input
  pinMode(LED_BUILTIN, OUTPUT); // Set Built in LED 
  lcd.init(); // Initialize the LCD
  lcd.backlight(); // Turn on the backlight

// pinMode(motorD, OUTPUT);
//  pinMode(motorS, OUTPUT);
// pinMode(motorE, OUTPUT);

  stepper1.setMaxSpeed(2000); // Set maximum speed value for the stepper
  stepper1.setAcceleration(500); // Set acceleration value for the stepper
  stepper1.setCurrentPosition(0); // Set the current position to 0 steps
  

}


//---------------------------------------------------------------------------------------------------------------------------------------------------------------------
//---------------------------------------------------------------------------------------------------------------------------------------------------------------------


void loop() {
  int adcValue = analogRead(pressureInputPin); // Read the analog value from sensor
  float voltage = adcValue * (5.0 / 1023.0); // Convert ADC reading to voltage
  pressure = mapfloat(voltage, voltageMin, voltageMax, pressureMin, pressureMax) - 4.5; // Map voltage to pressure

  unsigned long currentMillis = millis();
  if (currentMillis - previousMillis >= interval) {
    previousMillis = currentMillis;
    lcd.setCursor(0, 0);
    lcd.print("Pressure: ");
    lcd.print(pressure, 1);
    lcd.print(" psi");
  
    lcd.setCursor(0, 1);
    lcd.print("ADC Value: ");
    lcd.print(adcValue);

    lcd.setCursor(0, 3);
    lcd.print("Target Value: ");
    lcd.print(target);
  }

  if (pressure > target && !isMotorMoving) {
    // Start moving the motor if pressure is above target and motor is not already moving
    stepper1.moveTo(10000); // Set a long target to ensure continuous movement
    isMotorMoving = true;
  } else if (pressure <= target && isMotorMoving) {
    // If pressure drops below target and motor is moving, initiate stop
    stepper1.stop(); // This will start deceleration
    isMotorMoving = false;
  }

  if (isMotorMoving) {
    // This ensures the stepper is continuously moving towards the target or stopping smoothly
    stepper1.run();
  } else {
    // Optionally, you can add code here to handle the motor once it has stopped, if needed
    digitalWrite(LED_BUILTIN, LOW);
  }
}