#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Keypad.h>
#include <AccelStepper.h>

// Define constants for stepper motor pins
#define X_STEP_PIN 2
#define X_DIR_PIN 3
#define Y_STEP_PIN 4
#define Y_DIR_PIN 5

// Define constants for LCD
#define LCD_ADDRESS 0x27 // I2C address of the LCD
#define LCD_COLUMNS 16
#define LCD_ROWS 2

// Define constants for keypad pins
const byte ROWS = 4;
const byte COLS = 4;
char keys[ROWS][COLS] = {
  {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B'},
  {'7', '8', '9', 'C'},
  {'*', '0', '#', 'D'}
};
byte rowPins[ROWS] = {A0, A1, A2, A3};
byte colPins[COLS] = {A4, A5, 6, 7};

// Define stepper motor parameters
AccelStepper xStepper(AccelStepper::DRIVER, X_STEP_PIN, X_DIR_PIN);
AccelStepper yStepper(AccelStepper::DRIVER, Y_STEP_PIN, Y_DIR_PIN);

// Define LCD object
LiquidCrystal_I2C lcd(LCD_ADDRESS, LCD_COLUMNS, LCD_ROWS);

// Define keypad object
Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);

// Define variables for current position
int currentX = 0;
int currentY = 0;

void setup() {
  // Set up motor speed and LCD
  xStepper.setMaxSpeed(1000); // Adjust speed as needed
  yStepper.setMaxSpeed(1000); // Adjust speed as needed
  lcd.init();
  lcd.backlight();
}

void loop() {
  // Wait for user input
  char key = keypad.getKey();
  
  // If a key is pressed
  if (key != NO_KEY) {
    int roomNumber = key - '0'; // Convert char to int
    
    // Calculate target coordinates based on room number
    int targetX = calculateXCoordinate(roomNumber);
    int targetY = calculateYCoordinate(roomNumber);
    
    // Move to target coordinates
    moveTo(targetX, targetY);
    
    // Display confirmation on LCD
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Moved to Room ");
    lcd.print(roomNumber);
    delay(2000); // Display message for 2 seconds
  }
}

// Function to calculate X coordinate based on room number
int calculateXCoordinate(int roomNumber) {
  // Implement your calculation logic here
}

// Function to calculate Y coordinate based on room number
int calculateYCoordinate(int roomNumber) {
  // Implement your calculation logic here
}

// Function to move to target coordinates
void moveTo(int targetX, int targetY) {
  // Move along X axis
  xStepper.moveTo(targetX);
  xStepper.runToPosition();
  
  // Move along Y axis
  yStepper.moveTo(targetY);
  yStepper.runToPosition();
  
  // Update current position
  currentX = targetX;
  currentY = targetY;
}