// #define LED 2
#include <ESP32Servo.h>
#include <WiFi.h>
#include <WiFiClient.h>
#include <WebServer.h>
#include <Wire.h> 
#include <LiquidCrystal_I2C.h>

// Can use #define instead of const
// const char *ssid = "AndroidAP3405";  //ENTER YOUR WIFI ssid
// const char *password = "xrbo0123";  //ENTER YOUR WIFI password
const int ServoPin = 2; // declare the servo pin
const int PirPin = 4; // declare the pir pin
const int ledPin1 = 5; // declare the motion indicator led pin
const int ledPin2 = 14; // declare the bin full indicator led pin
const int PIN_TRIG = 13; // declare the trigger pin
const int PIN_ECHO = 12; // declare the echo pin
const int speed = 30; // constant for lid speed
int lidState = LOW; // Initialize assuming the lid is closed
int pirState = LOW; // Initialize the sensor assuming no motion is detected
int val = 0; // declare variable for getting sensor state 
int pos = 90; // declare variable for lid position
int threshold = 15;
LiquidCrystal_I2C lcd(0x27,16,2);  // set the LCD address to 0x27 for a 16 chars and 2 line display
float duration_us,distance_cm;
Servo servo;

void setup() {
  // put your setup code here, to run once:
  servo.attach(ServoPin, 500, 2400); 
  pinMode(PirPin, INPUT); // Declare the pir as input
  pinMode(ledPin1, OUTPUT); // Declare the led as output
  pinMode(ledPin2, OUTPUT); // Declare the led as output
  pinMode(PIN_TRIG, OUTPUT); // Declare the trigger pin as output
  pinMode(PIN_ECHO, INPUT); // Declare the echo pin as input
  lcd.init();                 // initialize the lcd 
  lcd.backlight();
  lcd.setCursor(0,0);
  
  Serial.begin(115200);
  
}

void loop() {

  val = digitalRead(PirPin); // Read input value

  // Check if the bin is full
  // take a new measurement
  digitalWrite(PIN_TRIG, HIGH);
  delayMicroseconds(10);
  digitalWrite(PIN_TRIG, LOW);
  
  //measure duration of pulse form echo pin
 duration_us = pulseIn(12,HIGH);
 // calculate the distance
 distance_cm = (0.017*duration_us)/4;
 lcd.clear();
lcd.print("Bio degradable");
  lcd.setCursor(0,1);
  lcd.print("Drop Here: ");
  lcd.print(distance_cm);
  // Read the result
  int duration = pulseIn(PIN_ECHO, HIGH);
  int distance = duration / 58; 
  Serial.print("Bio-degradable: ");
  Serial.println(distance_cm);

  bool is_full = distance <= threshold; // checks if the bin is full
   Serial.println(is_full);

  if (val == HIGH) {

    if (!is_full) { 
      // if the bin is not full
      // When motion is detected, turn on the led and open the lid.
      digitalWrite(ledPin1, HIGH);
      Serial.println("motion detected");

      if (pirState == LOW) {
        pirState == HIGH;
      }
      open();
    } else {
      // Blink the full indicator light if the bin is full
      digitalWrite(ledPin2, HIGH);
      delay(1000);
      digitalWrite(ledPin2, LOW);
    }

  } else {

    digitalWrite(ledPin1, LOW);
    //Serial.println("no motion");

    if (pirState == HIGH) {
      pirState == LOW;
    }
    close();
  }
}


void open () {

  if (lidState == LOW) {

    while(pos >= 1) {
      servo.write(pos);
      pos -= 1;
      delay(speed);
    }

    // pos = 0;

    lidState = HIGH;

  }

}


void close() {

  if (lidState == HIGH) {

    while(pos <= 89) {
      servo.write(pos);
      pos += 1;
      delay(speed);
    }

    // pos = 90;

    lidState = LOW;

  }

}