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

const int stepsPerRevolution = 200;
const int potPin = A0;
const int buttonPin = 2;
const int emergencyButtonPin = 3;
int potValue = 0;
int targetAngle = 0;
int currentPosition = 0;
bool returningToZero = false;
bool motorEnabled = false;
int buttonPressCount = 0;

Stepper myStepper(stepsPerRevolution, 11, 10, 9, 8);
LiquidCrystal_I2C lcd(0x27, 16, 2);

void setup() {
  pinMode(buttonPin, INPUT_PULLUP);
  pinMode(emergencyButtonPin, INPUT_PULLUP);
  myStepper.setSpeed(60);

  lcd.init();
  lcd.noBacklight();
  lcd.setCursor(0, 0);
  lcd.print("Angulo: ");
}

void loop() {
  bool buttonState = digitalRead(buttonPin);
  bool emergencyButtonState = digitalRead(emergencyButtonPin);

  if (emergencyButtonState == LOW) {
    motorEnabled = false;
    lcd.noBacklight();
    buttonPressCount = 0;
  }

  if (buttonState == LOW) {
    delay(50);
    if (buttonState == LOW) {
      buttonPressCount++;
      if (buttonPressCount > 4) {
        buttonPressCount = 0;
      }
    }
    delay(200);
  }

  if (buttonPressCount == 1) {
    motorEnabled = true;
    myStepper.setSpeed(30); // Baja velocidad
    lcd.backlight();
    lcd.setCursor(0, 1);
    lcd.print("Velocidad baja  ");
  } else if (buttonPressCount == 2) {
    motorEnabled = true;
    myStepper.setSpeed(60); // Media velocidad
    lcd.backlight();
    lcd.setCursor(0, 1);
    lcd.print("Velocidad media ");
  } else if (buttonPressCount == 3) {
    motorEnabled = true;
    myStepper.setSpeed(120); // Alta velocidad
    lcd.backlight();
    lcd.setCursor(0, 1);
    lcd.print("Velocidad alta  ");
  } else if (buttonPressCount == 4) {
    motorEnabled = false;
    lcd.noBacklight();
    lcd.setCursor(0, 1);
    lcd.print("Apagado         ");
  }

  if (motorEnabled && buttonPressCount != 0) {
    potValue = analogRead(potPin);
    targetAngle = map(potValue, 0, 1023, 0, 180);

    lcd.setCursor(8, 0);
    lcd.print("    ");
    lcd.setCursor(8, 0);
    lcd.print(targetAngle);

    int targetSteps = map(targetAngle, 0, 180, 0, stepsPerRevolution);

    if (!returningToZero && currentPosition < targetSteps) {
      myStepper.step(1);
      currentPosition++;
    } else if (!returningToZero && currentPosition > targetSteps) {
      myStepper.step(-1);
      currentPosition--;
    } else if (!returningToZero && currentPosition == targetSteps) {
      returningToZero = true;
    } else if (returningToZero && currentPosition != 0) {
      myStepper.step(-1);
      currentPosition--;
    } else if (returningToZero && currentPosition == 0) {
      returningToZero = false;
    }
  }

  delay(10);
}