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

// Define LCD properties
LiquidCrystal_I2C lcd(0x27, 16, 2); // I2C address 0x27, 16 columns and 2 rows

// Define Keypad properties
const byte ROWS = 4; // Four rows
const byte COLS = 4; // Four columns
char keys[ROWS][COLS] = {
  {'1','2','3','A'},
  {'4','5','6','B'},
  {'7','8','9','C'},
  {'.','0','#','D'}
};
byte rowPins[ROWS] = {9, 8, 7, 6}; // Connect to the row pinouts of the keypad
byte colPins[COLS] = {5, 4, 3, 2}; // Connect to the column pinouts of the keypad

// Create the Keypad object
Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);

// Define stepper motor pins
#define STEPPER_DIR_PIN 10
#define STEPPER_STEP_PIN 11
#define SLEEP 12

// Global variables
float yards = 0.0;
unsigned long duration = 0;
float Time = 0.0;
bool decimalEntered = false;

void setup() {
  pinMode(SLEEP, OUTPUT);
  pinMode(STEPPER_DIR_PIN,OUTPUT);
  pinMode(STEPPER_STEP_PIN,OUTPUT);


  // Initialize LCD
  lcd.init();
  lcd.backlight();

  // Initialize serial communication for debugging
  Serial.begin(9600);

  // Print initial message
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print(" 1 for Auto");
  lcd.setCursor(0, 1);
  lcd.print(" 2 for Manual");
}

void loop() {
  // Check for keypad input
  char key = keypad.getKey();

  // If a key is pressed
  if (key != NO_KEY) {
    // If key is '1', enter automatic mode
    if (key == '1') {
      enterAutomaticMode();
    }
    // If key is '2', enter manual mode
    else if (key == '2') {
      enterManualMode();
    }
  }
}

void enterAutomaticMode() {
  // Print initial message
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Enter yards:");
  
  while (true) {
    char key = keypad.getKey();
    
       if (key != NO_KEY) {
      // If key is a digit or decimal point, append it to the yards variable
      if (isdigit(key) || key == '.') {
        if (key == '.') {
          // Check if decimal point is already entered
          if (!decimalEntered) {
            decimalEntered = true;
            lcd.print(key);
          }
        } else {
          yards = yards * 10 + (key - '0');
          if (decimalEntered) {
            // Increment the decimal point position
            yards /= 10.0;
          }
          lcd.print(key);
        }
      }
      // If key is 'A', start measuring
      else if (key == 'A') {
        startMeasuring();
        break;
      }
      // If key is '#', clear the yards variable
      else if (key == '#') {
        yards = 0;
        decimalEntered = false; // Reset decimal point flag
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("Enter yards:");
      }
    }
  }
}

void enterManualMode() {
  // Clear LCD and print instructions for manual mode
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("1- FreeRun");
  lcd.setCursor(0, 1);
  lcd.print("#- Stop run");

  char key; // Declare key outside of the while loops
  unsigned long startTime = millis();
  int stepperdelay = 5000;

  

  while (true) {
    // Check for keypress
    key = keypad.getKey();

    // If key is '1', start free run
    if (key == '1') {
      digitalWrite(STEPPER_DIR_PIN, HIGH);
      digitalWrite(SLEEP, HIGH);
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Free Running");

      while (true) {

       while(millis() - startTime < stepperdelay){
      digitalWrite(STEPPER_STEP_PIN,HIGH); 
    delayMicroseconds(stepperdelay); 
    digitalWrite(STEPPER_STEP_PIN,LOW); 
    delayMicroseconds(stepperdelay); 

    //decrease stepper delay value by 1 microsecond
    stepperdelay--;
                            }

        
        digitalWrite(STEPPER_STEP_PIN, HIGH);
        delayMicroseconds(500); // Adjust delay based on motor speed requirements
        digitalWrite(STEPPER_STEP_PIN, LOW);
        delayMicroseconds(500); // Adjust delay based on motor speed requirements

        key = keypad.getKey();
        if (key == '#') {
          lcd.clear();
          lcd.setCursor(0, 0);
          lcd.print("Enter Time-");

          while (true) {
            digitalWrite(STEPPER_DIR_PIN, LOW);
            digitalWrite(SLEEP, LOW);

            key = keypad.getKey();
            if (isdigit(key) || key == '.') {
        if (key == '.') {
          // Check if decimal point is already entered
          if (!decimalEntered) {
            decimalEntered = true;
            lcd.print(key);
          }
        } else {
          Time = Time * 10 + (key - '0');
          if (decimalEntered) {
            // Increment the decimal point position
            Time /= 10.0;
          }
          lcd.print(key);
        }
      } else if (key == 'A') {
              lcd.clear();
              lcd.setCursor(0, 0);
              lcd.print("Enter Yards:");

              while (true) {
                key = keypad.getKey();
                if (isdigit(key)) {
                  yards = yards * 10 + (key - '0');
                  lcd.print(key);
                } else if (key == 'A') {
                  digitalWrite(SLEEP, HIGH);
                  lcd.clear();
                  lcd.setCursor(0, 0);
                  lcd.print("Measuring");
                  unsigned long yardTime = Time * 1000; // Time for one yard in milliseconds
                  duration = yards * yardTime;          // Total duration for all yards
                  int stepperdelay = 5000;


                  digitalWrite(STEPPER_DIR_PIN, HIGH);

                  unsigned long startTime = millis();
                  while (millis() - startTime < duration) {
                       

                       while(millis() - startTime < stepperdelay){
                        digitalWrite(STEPPER_STEP_PIN,HIGH); 
                         delayMicroseconds(stepperdelay); 
                        digitalWrite(STEPPER_STEP_PIN,LOW); 
                         delayMicroseconds(stepperdelay); 
                  //decrease stepper delay value by 1 microsecond 
                   stepperdelay--;
                            }
                    
                    // Generate step pulse
                    digitalWrite(STEPPER_STEP_PIN, HIGH);
                    delayMicroseconds(500); // Adjust delay based on motor speed requirements
                    digitalWrite(STEPPER_STEP_PIN, LOW);
                    delayMicroseconds(500); // Adjust delay based on motor speed requirements
                  }

                  digitalWrite(STEPPER_STEP_PIN, LOW);
                  digitalWrite(SLEEP, LOW);
                  lcd.clear();
                  lcd.setCursor(0, 0);
                  lcd.print("Measured");

                  resetState(); // Reset state after all operations are completed
                  return; // Exit the function after resetting state
                }
              }
            }
          }
        }
      }
    }
  }
}


void startMeasuring() {
  // Clear LCD and display 'Measuring' message
  digitalWrite(SLEEP, HIGH);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Measuring");

  // Calculate duration based on yards
  unsigned long yardTime = 4 * 1000; // Time for one yard in milliseconds
  duration = yards * yardTime; // Total duration for all yards
  int stepperdelay = 5000;
  // Set direction of stepper motor (clockwise)
  digitalWrite(STEPPER_DIR_PIN, HIGH);

  unsigned long startTime = millis();
  while (millis() - startTime < duration) {

    while(millis() - startTime < stepperdelay){
      digitalWrite(STEPPER_STEP_PIN,HIGH); 
    delayMicroseconds(stepperdelay); 
    digitalWrite(STEPPER_STEP_PIN,LOW); 
    delayMicroseconds(stepperdelay); 

    //decrease stepper delay value by 1 microsecond
    stepperdelay--;
}
     
    // Generate step pulse
    digitalWrite(STEPPER_STEP_PIN, HIGH);
    delayMicroseconds(500); // Adjust delay based on motor speed requirements
    digitalWrite(STEPPER_STEP_PIN, LOW);
    delayMicroseconds(500); // Adjust delay based on motor speed requirements
  }
  
  digitalWrite(STEPPER_STEP_PIN, LOW);
  digitalWrite(SLEEP, LOW);

  // Return to initial state
  resetState();
}

void resetState() {
  // Clear LCD and reset variables
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print(" 1 for Auto");
  lcd.setCursor(0, 1);
  lcd.print(" 2 for Manual");
  yards = 0.0;
  Time = 0.0;
   decimalEntered = false; // Reset decimal point fla
}