#include <Arduino.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Servo.h>
#include <Arduino_FreeRTOS.h>

#define SERVO_PIN 9
#define POTENTIOMETER_PIN A0

#define LCD_ADDRESS 0x27
#define LCD_COLUMNS 16
#define LCD_ROWS 2


Servo myservo;
LiquidCrystal_I2C lcd(LCD_ADDRESS, LCD_COLUMNS, LCD_ROWS);
TaskHandle_t xHandle_LCD;
float lux;
const float GAMMA = 0.7;
const float RL10 = 50;
volatile float t, h;
volatile int potValue = 0;
volatile int servoPos = 0;
volatile bool blinkingState = false;

void TaskReadPotentiometer(void *pvParameters) {
  (void)pvParameters;

  for (;;) {
    potValue = analogRead(POTENTIOMETER_PIN);
    servoPos = map(potValue, 0, 1023, 0, 180); 
    
    vTaskDelay(10 / portTICK_PERIOD_MS);
  }
}

void TaskControlServo(void *pvParameters) {
  (void)pvParameters;

  for (;;) {
    int targetPosition = map(potValue, 0, 1023, 0, 180); 
    myservo.write(targetPosition);
    vTaskDelay(20 / portTICK_PERIOD_MS); 
  }
}


void TaskPhotoresistor(void *pvParameters) {
  (void)pvParameters;
  for (;;) {
  int analogValue = analogRead(A1);
  float voltage = analogValue / 1024. * 5;
  float resistance = 2000 * voltage / (1 - voltage / 5);
  lux = pow(RL10 * 1e3 * pow(10, GAMMA) / resistance, (1 / GAMMA));

    vTaskDelay(100 / portTICK_PERIOD_MS);
  }
}

void TaskDisplayLCD(void *pvParameters) {
  (void)pvParameters;

// Convert the analog value into lux value:
  lcd.init();
  lcd.init();
  lcd.backlight();
  for (;;) {
    lcd.setCursor(0, 0);
    lcd.print("Angle: ");
    lcd.print(servoPos); // Виведення кута повороту
    lcd.print(" deg   ");
     lcd.setCursor(0, 1);
    lcd.print("Sensor: ");
    lcd.print(lux); 
    vTaskDelay(100 / portTICK_PERIOD_MS);
  }
}


void setup() {
  myservo.attach(SERVO_PIN); 
  xTaskCreate(TaskReadPotentiometer, "ReadPot", 128, NULL, 1, NULL);

  xTaskCreate(TaskDisplayLCD, "DisplayLCD", 128, NULL, 3, &xHandle_LCD);
  xTaskCreate(TaskControlServo, "ControlServo", 128, NULL, 4, NULL);
  xTaskCreate(TaskPhotoresistor, "ReadSensor", 128, NULL, 2, NULL);

  vTaskStartScheduler();
}

void loop() {
 
}