#include <Keypad.h>
#include <LiquidCrystal_I2C.h>
#include <Stepper.h>

/*
  Initialize stepper and set pins
*/
#define PIN1 44
#define PIN2 46
#define STEPS 800.0

Stepper stepper(STEPS, 11, 10);

/*
  Initialize LCD and set pins
*/

LiquidCrystal_I2C lcd(0x27, 16, 2);

/*
  Initialize keypad, set pins and keys
*/

const int ROW_NUM    = 4;
const int COLUMN_NUM = 4;

char keys[ROW_NUM][COLUMN_NUM] = {
  {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B'},
  {'7', '8', '9', 'C'},
  {'*', '0', '#', 'D'}
};

byte pin_rows[ROW_NUM] = {22, 24, 26, 28};
byte pin_column[COLUMN_NUM] = {36, 38, 40, 42};

Keypad keypad = Keypad(makeKeymap(keys), pin_rows, pin_column, ROW_NUM, COLUMN_NUM );

/*
  Functions prototype
*/

int int_prompt(String text, int default_value, char break_key);
bool key_is_number(char key);

/*
  Initial program
*/

void setup() {
  lcd.init();
  lcd.backlight();
  Serial.begin(9600);
  Serial.println();
  pinMode(PIN1, OUTPUT);
  pinMode(PIN2, OUTPUT);
}

/*
  Run program
*/

int speed = 0;
int degree = 0;
int dir = 0;

/*void lamp(int pin){
  int shomaresh = 0;
  while(shomaresh < 5){
    digitalWrite(pin, HIGH);
  }
  }
*/
void loop() {
  if (speed && degree) {
    Serial.println("config stepper");

    stepper.setSpeed(speed);

    lcd.clear();

    //lcd.setCursor(0, 0);
    //lcd.print("speed=");
    //lcd.print(speed);

    //lcd.setCursor(0, 1);
    //lcd.print("degree=");
    //lcd.print(degree);
    char key;

    int step_count = STEPS * 1000 * degree / 360000;
    Serial.print("step count: ");
    Serial.println(step_count);

    Serial.println("start stepper");
    while ((key = keypad.getKey()) != '*' && step_count > 0) {
      stepper.step(dir ? 1 : -1);
      step_count--;

      // lcd.clear();
      if (key = '#') {
        lcd.setCursor(0, 0);
        lcd.print("reley=");
        digitalWrite(PIN1, HIGH);
        digitalWrite(PIN2, HIGH);
      }
      
      if (key = '*') {
        lcd.setCursor(0, 0);
        lcd.print("reley=");
        digitalWrite(PIN1, LOW);
        digitalWrite(PIN2, LOW);
      }
    }
  }

  Serial.println("get inputs");

  speed = int_prompt("enter speed", speed, 'C');
  Serial.print("speed: ");
  Serial.println(speed);

  dir = int_prompt("enter direction", dir, 'C');
  Serial.print("direction: ");
  Serial.println(dir);

  degree = int_prompt("enter degree", degree, '#');
  Serial.print("degree: ");
  Serial.println(degree);
}

/*
  Print a question on LCD and get input from keypad
  and return result as number.
*/
int int_prompt(String text, int default_value, char break_key = 'c') {
  Serial.print("get input (");
  Serial.print(text);
  Serial.print("): ");

  text.concat(": ");

  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print(text.c_str());

  String input;

  //  if (default_value) {
  //   input.concat(default_value);
  //  }

  char key;
  while ((key = keypad.getKey()) != break_key) {
    if (key) {
      Serial.print(key);
    }

    if (key_is_number(key)) {
      input.concat(key);

      lcd.setCursor(0, 1);
      lcd.print(input.c_str());
    } else if (key == 'B') {
      input.remove(input.length() - 1);

      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print(text.c_str());
      lcd.setCursor(0, 1);
      lcd.print(input.c_str());
    }
  }

  Serial.println();

  return input.toInt();
}

/*
  Check pressed key of keypad is number or not.
*/
bool key_is_number(char key) {
  int number = key - 48;
  bool is_number = number >= 0 && number <= 9;
  return is_number;
}