// Auto clean concept for Bandicoot mini done by Amaljith A.
// Last updated on 24/04/2024.

#include "HX711.h"

// Assign pins for relays, LEDs, buzzer, limit switch, push button, and potentiometer
int START_BUTTON = 8;
int L_SWITCH = 2;
int HOIST_DOWN = 4;
int HOIST_UP = 5;
int BUCKET_OPEN = 6;
int BUCKET_CLOSE = 7;
int autocleanstat = 10;                            // Blue led
int fault = 11;                                   // Red led
int complete = 12;                                 // Green led
int LOADCELL_DOUT_PIN = 13;
int LOADCELL_SCK_PIN = 3;

HX711 LoadCell;

double calibration_factor = 420;       //33090;                // calibration factor has to be adjusted in accordance with the known weight as reference.
float ReadWeight;                                 // Variable to store the load cell value

// assigning different flags for tracking different conditions of relay's and push button status
bool buttonPressed = false;
bool Initialstart = false;
int Cleanflag = 0;
bool processdone = false;
bool Overload = false;
bool fault_state = 0;

int starttimeofHD = 0;                            // Variable to store the start time of HOIST_DOWN relay

void setup() {
  pinMode(START_BUTTON, INPUT_PULLUP);
  pinMode(L_SWITCH, INPUT_PULLUP);
  pinMode(HOIST_DOWN, OUTPUT);
  pinMode(HOIST_UP, OUTPUT);
  pinMode(BUCKET_OPEN, OUTPUT);
  pinMode(BUCKET_CLOSE, OUTPUT);
  pinMode(autocleanstat, OUTPUT);
  pinMode(fault, OUTPUT);
  pinMode(complete, OUTPUT);

  Initial_setup();                                // Set initial conditions

  LoadCell.begin(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN);
  LoadCell.set_scale(calibration_factor);
  LoadCell.tare();

  Serial.begin(115200);                           // begin serial communication
}

void loop() {

  LoadCellRead();                                                                                           // function to read load cell value
  PB_Button();                                                                                              // to read push button status

  if (buttonPressed == true && ReadWeight >= 30 && digitalRead(L_SWITCH) == LOW && processdone == false && fault_state == 0) {  // condition where the autocleanstat is turned ON and downward movement initiated
    Initialstart = true;
    digitalWrite(HOIST_DOWN, LOW);
    digitalWrite(autocleanstat, HIGH);
  }

  if ((Initialstart == true || Cleanflag == 2) && (digitalRead(HOIST_DOWN) == LOW)) {                       // condition to find error when the hoist down relay is on for a longer time to detect when it didnt touch the ground.
    starttimeofHD++;
    Serial.println(starttimeofHD);
    if (starttimeofHD >= 52) {
      // Check for error if HOIST_DOWN relay is ON for >= to 40 count time
      Serial.println("Error: HOIST_DOWN relay has been ON for too long");
      faultalarm();
    }
  }

  if (Initialstart && ReadWeight <= 16 && fault_state == 0) {                                                                   // to start cleaning process when bucket touches ground
    starttimeofHD = 0;
    cleaning();
    Initialstart = false;
    Overload = true;
    Cleanflag = 1;
  }

  if (Cleanflag == 1 && (ReadWeight >= 30 && ReadWeight < 45) && fault_state == 0) {                                            // to check sufficient waste is collected
    Serial.println("Sufficient waste collected...");
    Cleanflag = 0;
    digitalWrite(HOIST_UP, LOW);
    digitalWrite(complete, HIGH);
    processdone = true;
  }

  if (Cleanflag == 1 && ReadWeight < 30 && fault_state == 0) {                                                                  // for repeat cleaning condition when less waste is collected
    Serial.println("Less wastage collected...");
    Cleanflag = 0;
    digitalWrite(BUCKET_OPEN, LOW);
    delay(2000);
    digitalWrite(BUCKET_OPEN, HIGH);
    delay(1000);
    digitalWrite(BUCKET_CLOSE, LOW);
    delay(2000);
    digitalWrite(BUCKET_CLOSE, HIGH);
    delay(1000);
    digitalWrite(HOIST_DOWN, LOW);
    Cleanflag = 2;
  }

  if (Cleanflag == 2 && ReadWeight <= 16 && fault_state == 0) {                                                                 // to perform cleaning again (repeat) when bucket touches ground
    Serial.println("Repeating cleaning process again as less waste collected...");
    starttimeofHD = 0;
    cleaning();
    Overload = true;
    Cleanflag = 3;
  }


  if (Cleanflag == 3 && ReadWeight < 30 && fault_state == 0) {                                                                  // check waste after repeated clean
    Serial.println("Nothing more to collect");
    digitalWrite(HOIST_UP, LOW);
    digitalWrite(complete, HIGH);
    processdone = true;
  }

  if (Cleanflag == 3 && (ReadWeight >= 30 && ReadWeight < 45) && fault_state == 0) {                                            // to check sufficient waste is collected
    Serial.println("Sufficient waste collected...");
    digitalWrite(HOIST_UP, LOW);
    digitalWrite(complete, HIGH);
    processdone = true;
  }

  if (Overload == true && ReadWeight >= 45) {                                                               // to raise fault alarm when overload is detected
    Serial.println("Overload condition detected...");
    faultalarm();
  }

  if (processdone == true && ReadWeight < 45 && (digitalRead(L_SWITCH) == HIGH) && fault_state == 0) {                          // condition to complete cleaning process
    Serial.println("Cleaning process completed");
    digitalWrite(autocleanstat, LOW);
    digitalWrite(complete, HIGH);
  } else if (digitalRead(L_SWITCH) == LOW && processdone == true) {
    Initial_setup();
  }

  if (ReadWeight <= -50 || ReadWeight > 50) { 
    Serial.println(" System failure !!!!");
    faultalarm();
  }
}


// To set fault alarm for errors
void faultalarm() {
  fault_state = 1;
  digitalWrite(HOIST_UP, HIGH);
  digitalWrite(fault, HIGH);
  digitalWrite(complete, LOW);
}

// initial condition
void Initial_setup() {
  digitalWrite(HOIST_DOWN, HIGH);
  digitalWrite(HOIST_UP, HIGH);
  digitalWrite(BUCKET_OPEN, HIGH);
  digitalWrite(BUCKET_CLOSE, HIGH);
  digitalWrite(autocleanstat, LOW);
  digitalWrite(fault, LOW);
  digitalWrite(complete, LOW);
  Initialstart = false;
  Cleanflag = 0;
  processdone = false;
  Overload = false;
  starttimeofHD = 0;
}

// function for auto cleaning
void cleaning() {
  Serial.println("Cleaning Operation Started...");
  digitalWrite(HOIST_DOWN, HIGH);
  delay(1000);
  digitalWrite(HOIST_UP, LOW);
  delay(3000);
  digitalWrite(HOIST_UP, HIGH);
  delay(1000);
  digitalWrite(BUCKET_OPEN, LOW);
  delay(1500);
  digitalWrite(BUCKET_OPEN, HIGH);
  delay(1000);
  digitalWrite(HOIST_DOWN, LOW);
  delay(3700);
  digitalWrite(HOIST_DOWN, HIGH);
  delay(1000);
  digitalWrite(BUCKET_CLOSE, LOW);
  delay(2000);
  digitalWrite(HOIST_UP, LOW);
  delay(600);
  digitalWrite(HOIST_UP, HIGH);
  delay(500);
  digitalWrite(BUCKET_CLOSE, LOW);
  delay(2000);
  digitalWrite(HOIST_UP, LOW);
  delay(2400);
  digitalWrite(HOIST_UP, HIGH);
  digitalWrite(BUCKET_CLOSE, HIGH);
  delay(1000);
  Serial.println("Cleaning Operation End...");
  LoadCellRead();
}

//function to read the load cell and get the read data
float LoadCellRead() {
  if (LoadCell.wait_ready_timeout(1000)) {
    ReadWeight = (LoadCell.get_units(5));
    //ReadWeight = ReadWeight + 32;
    Serial.print("HX711 reading: ");
    Serial.println(ReadWeight);
  } else {
    Serial.println("HX711 not found.");
    ReadWeight = 0.0;
  }
  return ReadWeight;
}

// Function for the push button
void PB_Button() {
  // Check if the button is pressed and the flip-flop state is off
  if (digitalRead(START_BUTTON) == LOW && !buttonPressed) {
    // Set buttonPressed flag to true
    buttonPressed = true;
  } else if (digitalRead(START_BUTTON) == HIGH && buttonPressed) {
    // Reset buttonPressed flag when button is released
    buttonPressed = false;
  }
}