//LCD config
#include <Wire.h> 
#include <LiquidCrystal_I2C.h>
//Thermistor needed libraries
#include <thermistor.h>           //Download it here: https://electronoobs.com/eng_arduino_thermistor.php
#include <AccelStepper.h>
// Define a stepper and the pins it will use
//new
#define potentiometer  A6  //10k Variable Resistor
#define bt_1 7 // Clockwise Button
#define bt_2 10 // Start-Stop Button
#define bt_3 11 // Anticlockwise Button
#define dirPin  4  //4Pin  of Arduino--Direction of stepper motor driver 
#define stepPin 3  //3Pin  of Arduino--Step of stepper motor driver 
#define enPin   2 //2Pin of Arduino--Enabled of stepper motor driver 

// I/O

int PWM_pin = 5;  
/*                //Pin for PWM signal to the MOSFET driver (the BJT npn with pullup)
int speed_pot = A1;
int but1 = 7;
int EN = 2;
int STEP = 3;
int DIR = 4;
*/
int LED = 13;

//new
int read_ADC;
int Speed_LCD, Speed_Delay;
int Mode=1, flag=0;

//Variables
float set_temperature = 200;            //Default temperature setpoint. Leave it 0 and control it with rotary encoder
float temperature_read = 0.0;
float PID_error = 0;
float previous_error = 0;
float elapsedTime, Time, timePrev;
float PID_value = 0;
int button_pressed = 0;
int menu_activated=0;
float last_set_temperature = 0;
int max_PWM = 255;

/*
//Stepper Variables
int max_speed = 1000;
int main_speed = 0;
bool but1_state = true;
bool activate_stepper = false;
int rotating_speed = 0;
*/

//PID constants
//////////////////////////////////////////////////////////
int kp = 90;   int ki = 30;   int kd = 80;
//////////////////////////////////////////////////////////

int PID_p = 0;    int PID_i = 0;    int PID_d = 0;
float last_kp = 0;
float last_ki = 0;
float last_kd = 0;

int PID_values_fixed =0;

LiquidCrystal_I2C lcd(0x27,16,2);  //sometimes the adress is not 0x3f. Change to 0x27 if it dosn't work.
thermistor therm1(A0,0);          //Connect thermistor on A0, 0 represents TEMP_SENSOR_0 ( configuration.h for more)
//AccelStepper stepper1(1, STEP, DIR); // (Type of driver: with 2 pins, STEP, DIR)

void setup() {  

//new
pinMode(potentiometer, INPUT); // declare potentiometer as input 

pinMode(bt_1, INPUT_PULLUP); // declare bt_1 as input
pinMode(bt_2, INPUT_PULLUP); // declare bt_2 as input
pinMode(bt_3, INPUT_PULLUP); // declare bt_3 as input

pinMode(dirPin,  OUTPUT); // declare as output for Direction of stepper motor driver 
pinMode(stepPin, OUTPUT); // declare as output for Step of stepper motor driver 
pinMode(enPin,   OUTPUT); // declare as output for Enabled of stepper motor driver 
  
lcd.begin(16,2);  
lcd.setCursor(0,0);
lcd.print(" WELCOME To  My ");
lcd.setCursor(0,1);
lcd.print("Filament Project");
delay(2000); // Waiting for a while
lcd.clear();
//new_eof


  /*
  pinMode(EN, OUTPUT);
  digitalWrite(EN, HIGH);     //Stepper driver is disbled
  stepper1.setMaxSpeed(max_speed);  
  pinMode(but1, INPUT_PULLUP);
  pinMode(speed_pot, INPUT);
  pinMode(LED, OUTPUT);
  digitalWrite(LED, LOW);
  */
  pinMode(PWM_pin,OUTPUT);
  TCCR0B = TCCR0B & B11111000 | B00000010;    // D6 adn D6 PWM frequency of 7812.50 Hz
  Time = millis();

  TCCR1A = 0;             //Reset entire TCCR1A register
  TCCR1B = 0;             //Reset entire TCCR1B register
  TCCR1A |= B00000010;    //   /8
  TCNT1 = 0;              //Reset Timer 1 value to 0
  
  lcd.init();
  lcd.backlight();
}

void loop() {

  //new
read_ADC = analogRead(potentiometer); // read analogue to digital value 0 to 1023 
Speed_Delay = map(read_ADC, 0, 1023, 5000, 10); //value map for Microstep resolution Delay
Speed_LCD = map(read_ADC, 0, 1023, 0, 100); //value map to Display on the LCD

lcd.setCursor(0,1);
lcd.print("Spd: ");
lcd.print(Speed_LCD); 
lcd.print("%  ");

if(digitalRead (bt_1) == 0){Mode = 2; digitalWrite(enPin, LOW);} //For Clockwise

if(digitalRead (bt_2) == 0){ //For Stop
if(flag==0){flag=1;
 if(Mode>1)Mode=1; 
      else{Mode=!Mode; 
      if(Mode==0)digitalWrite(enPin, HIGH);
            else digitalWrite(enPin, LOW);
      }
delay(100);
 }
}else{flag=0;} 

if(digitalRead (bt_3) == 0){Mode = 3; digitalWrite(enPin, LOW);} //For Anticlockwise

lcd.setCursor(9,1);

     if(Mode==0)lcd.print("Free   ");
else if(Mode==1)lcd.print("Lock   ");
else if(Mode==2)lcd.print("P.Kiri ");
else if(Mode==3)lcd.print("P.Kanan");

if(Speed_LCD>0 && Mode>1){ 
   
     if(Mode==2)digitalWrite(dirPin, LOW);// Stepper motor rotates CW (Clockwise)
           else digitalWrite(dirPin, HIGH);// Stepper motor rotates CCW (Anticlockwise)

digitalWrite(stepPin, HIGH);
delayMicroseconds(Speed_Delay);
digitalWrite(stepPin, LOW);
delayMicroseconds(Speed_Delay);
}  
//new_eof
/*
  if(!digitalRead(but1) && but1_state){
    but1_state = false;
    activate_stepper = !activate_stepper;
    delay(10);
  }
  else if(digitalRead(but1) && !but1_state){
    but1_state = true;
  }
  
  if(activate_stepper){
    digitalWrite(LED, HIGH);
    digitalWrite(EN, LOW);    //We activate stepper driver
    rotating_speed = map(analogRead(speed_pot),0,1024,main_speed,max_speed);
    stepper1.setSpeed(rotating_speed);
    //stepper1.runSpeed();
  }
  else
  {
    digitalWrite(EN, HIGH);    //We deactivate stepper driver
    digitalWrite(LED, LOW);
    stepper1.setSpeed(0);
    stepper1.runSpeed();
  }
  */

  // First we read the real value of temperature
  temperature_read = therm1.analog2temp(); // read temperature
  
  //Next we calculate the error between the setpoint and the real value
  PID_error=set_temperature-temperature_read+6;
  //Calculate the P value
  PID_p=0.01*kp*PID_error;
  //Calculate the I value in a range on +-6
  PID_i=0.01*PID_i+(ki*PID_error);
  
  
  //For derivative we need real time to calculate speed change rate
  timePrev = Time;                            // the previous time is stored before the actual time read
  Time = millis();                            // actual time read
  elapsedTime = (Time - timePrev) / 1000; 

  //Now we can calculate the D calue
  PID_d = 0.01*kd*((PID_error - previous_error)/elapsedTime);
  //Final total PID value is the sum of P + I + D
  PID_value = PID_p + PID_i + PID_d;


  //We define PWM range between 0 and 255
  if(PID_value < 0){
    PID_value = 0;
  }
  else if(PID_value > max_PWM){
    PID_value = max_PWM;
  }
  
  //Now we can write the PWM signal to the mosfet on digital pin D5
  analogWrite(PWM_pin, PID_value);
  previous_error = PID_error;     //Remember to store the previous error for next loop.

  //delay(250); //Refresh rate + delay of LCD print
  //lcd.clear();
  
  lcd.setCursor(0,0);
  lcd.print("T: ");  
  lcd.print(temperature_read,0);
  lcd.print("C"); 
  lcd.print(" PID: ");
  lcd.print(PID_value,0);
 /* 
  lcd.setCursor(0,1);
  lcd.print("S: ");  
  lcd.print(rotating_speed);
  lcd.print(" M: ");  
  lcd.print(activate_stepper);
 */
}
//Void loop end

/*
ISR(TIMER1_COMPA_vect){
  TCNT1  = 0;                  //First, set the timer back to 0 so it resets for next interrupt
  stepper1.runSpeed();
}
*/