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

#define INTERRUPT_PIN_0 4
#define INTERRUPT_PIN_1 A2
#define INTERRUPT_PIN_2 8 // New pin for 180-degree rotation button

volatile bool interrupt_0_triggered = false;
volatile bool interrupt_1_triggered = false;
volatile bool interrupt_2_triggered = false; // Flag for new button

LiquidCrystal_I2C lcd(0x27, 16, 2); // Display address and resolution

unsigned long previousMillis = 0;
const long interval = 2000; // 2 seconds

int initialAngle = 0; // Store initial servo motor position

void setup() {
  pinMode(INTERRUPT_PIN_0, INPUT_PULLUP);
  pinMode(INTERRUPT_PIN_1, INPUT_PULLUP);
  pinMode(INTERRUPT_PIN_2, INPUT_PULLUP); // Set new pin as input with pull-up resistor

  attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN_0), ISR_INT0, FALLING);
  attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN_1), ISR_INT1, FALLING);
  attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN_2), ISR_INT2, FALLING); // Attach new interrupt function for 180-degree button

  lcd.begin(16, 2);
  lcd.backlight();

  // Configure Timer 1 for PWM for servo motor
  TCCR1A = _BV(COM1A1) | _BV(WGM11); // PWM, non-inverted mode
  TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS11); // Fast PWM, prescaler 8
  ICR1 = 19999; // Set timer period (20ms at 16MHz)

  // Connect servo motor to pin 9
  pinMode(9, OUTPUT);
}

void loop() {
  unsigned long currentMillis = millis();

  if (interrupt_0_triggered) {
    setServoPosition(45);
    displayAngle("Uhol: 45 stupnov");
    delay(interval);
  }

  if (interrupt_1_triggered) {
    setServoPosition(90);
    displayAngle("Uhol: 90 stupnov");
    delay(interval);
  }

  if (interrupt_2_triggered) {
    setServoPosition(180);
    displayAngle("Uhol: 180 stupnov");
    delay(interval);
  }
}

void ISR_INT0() {
  interrupt_0_triggered = true;
}

void ISR_INT1() {
  interrupt_1_triggered = true;
}

void ISR_INT2() {
  interrupt_2_triggered = true;
}

void setServoPosition(int angle) {
  // Map angle (0-180 degrees) to PWM duty cycle range (0-100%)
  int dutyCycle = map(angle, 0, 180, 0, 100);

  // Set PWM duty cycle for servo motor in percentage
  OCR1A = (dutyCycle * 19999) / 100;
}

void displayAngle(const char* message) {
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print(message);
}