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

#define BTN_UP 7
#define BTN_DWN 5
#define BTN_OK 4
#define BTN_Exit 3
#define Relayin 2 // for remote

#define M1_PWM_L 10
#define M1_PWM_R 11

#define M1_Driver_EN 13

LiquidCrystal_I2C lcd(0x27, 20, 4); // set the LCD address to 0x27 for a 16 chars and 2 line display

int m_scroller = 1;

int hom_scraller = 1;

//********************all manue options  parameter **********

bool homeX = true;
bool motor1_optnX = false;
bool motor2_optnX = false;
bool m1_forwardSpeedx = false;
bool m1_reverseSpeedx = false;
bool m1_slowStopSetting_x = false;

//******************saving parameter************************
int m1_slow_start_value = 0;
int m1_frowardSpped_value = 0;
int m1_reversedSpped_value = 0;
int m1_slowStop_value = 0;

bool m1_clockwise = true;

bool m1_in_process = false;

unsigned long m1_slow_start_millis = 0;
unsigned long m1_slow_stop_millis = 0;

//******************************************

int m1_incriment = 0;
int m1_decriment = 0;

bool m1_time_out = false;

bool time_setupX = false;

int hour_m1 = 0;
int minit_m1 = 0;
int sec_m1 = 0;

int hour_count = 0;
int minit_count = 0;
int sec_count = 0;

int m1_precsion_time_start = m1_slow_start_value / m1_frowardSpped_value;
int m1_precsion_time_stop = m1_slowStop_value / m1_frowardSpped_value;
int m1_precsion_time_start_CC = m1_slow_start_value / m1_reversedSpped_value;
int m1_precsion_time_stop_CC = m1_slowStop_value / m1_reversedSpped_value;

void setup()
{
  Serial.begin(9600);
  lcd.backlight();
  lcd.init();
  pinMode(BTN_UP, INPUT_PULLUP);
  pinMode(BTN_DWN, INPUT_PULLUP);
  pinMode(BTN_OK, INPUT_PULLUP);
  pinMode(BTN_Exit, INPUT_PULLUP);
  pinMode(Relayin, INPUT_PULLUP);

  pinMode(M1_PWM_L, OUTPUT);
  pinMode(M1_PWM_R, OUTPUT);

  pinMode(M1_Driver_EN, OUTPUT);

  digitalWrite(M1_Driver_EN, LOW);

  m1_slow_start_value = (EEPROM.read(0) * 250) + EEPROM.read(1);
  m1_frowardSpped_value = EEPROM.read(4);
  m1_reversedSpped_value = EEPROM.read(5);
  m1_slowStop_value = (EEPROM.read(2) * 250) + EEPROM.read(3);

  hour_m1 = EEPROM.read(6);
  minit_m1 = EEPROM.read(7);
  sec_m1 = EEPROM.read(8);

  setup_calculation();
}

void setup_calculation()
{

  m1_precsion_time_start = m1_slow_start_value / m1_frowardSpped_value;
  m1_precsion_time_stop = m1_slowStop_value / m1_frowardSpped_value;
  m1_precsion_time_start_CC = m1_slow_start_value / m1_reversedSpped_value;
  m1_precsion_time_stop_CC = m1_slowStop_value / m1_reversedSpped_value;
}

//***** dispaying charachter using single line****************************
void lcd_display(int x, int y, String s)
{
  lcd.setCursor(x, y);
  lcd.print(s);
}

//***** dispaying intiger using single line code****************************

void lcd_display_int(int x, int y, int s)
{
  lcd.setCursor(x, y);
  lcd.print(s);
}

void lcd_display_long(int x, int y, long s)
{
  lcd.setCursor(x, y);
  lcd.print(s);
}

void scroll_to_right(int x)
{

  for (int i = 0; i < x; i++)
  {
    lcd.scrollDisplayRight();
    delay(200);
  }
}

void homePage()
{
  if (homeX)
  {
    if (digitalRead(BTN_UP) == LOW)
    {
      m_scroller++;
      if (m_scroller > 2)
      {
        m_scroller = 1;
      }
    }

    if (digitalRead(BTN_DWN) == LOW)
    {
      m_scroller--;

      if (m_scroller < 1)
      {
        m_scroller = 2;
      }
    }

    switch (m_scroller)
    {
    case 1:
      lcd_display(0, 0, "       Welcome     ");
      lcd_display(0, 1, "=>1st Motor setting");
      lcd_display(0, 2, "  Duration time    ");
      // lcd_display(0, 3, "                   ");
      if (digitalRead(BTN_OK) == LOW)
      {
        homeX = false;
        motor1_optnX = true;
        time_setupX = false;
        m_scroller = 1;
        lcd.clear();
        delay(300);
      }

      break;

    case 2:
      lcd_display(0, 0, "       Welcome     ");
      lcd_display(0, 1, "  1st Motor setting");
      lcd_display(0, 2, "=>Duration time    ");
      // lcd_display(0, 3, "                   ");

      if (digitalRead(BTN_OK) == LOW)
      {
        homeX = false;
        motor1_optnX = false;
        time_setupX = true;
        m_scroller = 1;
        lcd.clear();
        delay(300);
      }

      break;
    }
  }
}

void time_setup_page()
{

  if (time_setupX)
  {
    if (digitalRead(BTN_UP) == LOW)
    {
      m_scroller++;
      if (m_scroller > 3)
      {
        m_scroller = 1;
      }
    }

    if (digitalRead(BTN_DWN) == LOW)
    {
      m_scroller--;

      if (m_scroller < 1)
      {
        m_scroller = 3;
      }
    }

    if (digitalRead(BTN_Exit) == LOW)
    {
      homeX = true;
      motor1_optnX = false;
      time_setupX = false;
      m_scroller = 1;
      lcd.clear();
      delay(300);
      return;
    }

    switch (m_scroller)
    {
     case 1:
      lcd_display(0, 0, "=>Hour setup       ");
      lcd_display(0, 1, "  Minutes  setup   ");
      lcd_display(0, 2, "  Second setup     ");
      if (digitalRead(BTN_OK) == LOW)
      {
        lcd.clear();
        delay(300);
        while (digitalRead(BTN_Exit) != LOW)
        {
          lcd_display(0, 1, "      Hour         ");
          lcd_display_int(11, 2, hour_m1);

          if (digitalRead(BTN_UP) == LOW)
          {
            hour_m1++;
            if (hour_m1> 255)
            {
              hour_m1 = 0;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }
          else if (digitalRead(BTN_DWN) == LOW)
          {
            hour_m1--;
            if (hour_m1< 0)
            {
              hour_m1= 255;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }

          if (digitalRead(BTN_OK) == LOW)
          {
            EEPROM.update(6, hour_m1);
            save_function();
          }
        }
        delay(300);
      }

      break;

     case 2:
      lcd_display(0, 0, "  Hour setup       ");
      lcd_display(0, 1, "=>Minutes  setup   ");
      lcd_display(0, 2, "  Second setup     ");

      if (digitalRead(BTN_OK) == LOW)
      {
        lcd.clear();
        delay(300);
        while (digitalRead(BTN_Exit) != LOW)
        {
          lcd_display(0, 1, "      Minute       ");
          lcd_display_int(11, 2, minit_m1);

          if (digitalRead(BTN_UP) == LOW)
          {
            minit_m1++;
            if (minit_m1> 60)
            {
             minit_m1 = 0;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }
          else if (digitalRead(BTN_DWN) == LOW)
          {
            minit_m1--;
            if (minit_m1< 0)
            {
              minit_m1 = 60;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }

          if (digitalRead(BTN_OK) == LOW)
          {
            EEPROM.update(7, minit_m1);
            save_function();
          }
        }
        delay(300);
      }

      break;

     case 3:
      lcd_display(0, 0, "  Hour setup       ");
      lcd_display(0, 1, "  Minutes  setup   ");
      lcd_display(0, 2, "=>Second setup     ");

      if (digitalRead(BTN_OK) == LOW)
      {
        lcd.clear();
        delay(300);
        while (digitalRead(BTN_Exit) != LOW)
        {
          lcd_display(0, 1, "      Seconds      ");
          lcd_display_int(11, 2, sec_m1);

          if (digitalRead(BTN_UP) == LOW)
          {
            sec_m1++;
            if (sec_m1> 60)
            {
             sec_m1= 0;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }
          else if (digitalRead(BTN_DWN) == LOW)
          {
            sec_m1--;
            if (sec_m1< 0)
            {
              sec_m1 = 60;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }

          if (digitalRead(BTN_OK) == LOW)
          {
            EEPROM.update(8,sec_m1);
            save_function();
          }
        }
        delay(300);
      }

      break;
    }
  }
}

void motor1_optn()
{
  if (motor1_optnX)
  {
    if (digitalRead(BTN_UP) == LOW)
    {
      m_scroller++;
      if (m_scroller > 4)
      {
        m_scroller = 1;
      }
    }

    if (digitalRead(BTN_DWN) == LOW)
    {
      m_scroller--;

      if (m_scroller < 1)
      {
        m_scroller = 4;
      }
    }

    if (digitalRead(BTN_Exit) == LOW)
    {
      homeX = true;
      motor1_optnX = false;
      motor2_optnX = false;
      m_scroller = 1;
      lcd.clear();
      delay(300);
      return;
    }

    switch (m_scroller)
    {
    case 1:
      lcd_display(0, 0, "=>Slow start       ");
      lcd_display(0, 1, "  Forward speed    ");
      lcd_display(0, 2, "  Reverse speed    ");
      lcd_display(0, 3, "  Slow stop        ");
      if (digitalRead(BTN_OK) == LOW)
      {
        lcd.clear();
        delay(300);
        while (digitalRead(BTN_Exit) != LOW)
        {
          lcd_display(0, 1, "   M1 Slow start   ");
          lcd_display_int(11, 2, m1_slow_start_value);

          if (digitalRead(BTN_UP) == LOW)
          {
            m1_slow_start_value += 10;
            if (m1_slow_start_value > 5000)
            {
              m1_slow_start_value = 0;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }
          else if (digitalRead(BTN_DWN) == LOW)
          {
            m1_slow_start_value -= 10;
            if (m1_slow_start_value < 0)
            {
              m1_slow_start_value = 5000;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }

          if (digitalRead(BTN_OK) == LOW)
          {
            int x = m1_slow_start_value / 250;
            int y = m1_slow_start_value % 250;
            EEPROM.update(0, x);
            EEPROM.update(1, y);
            save_function();
          }
        }
        delay(300);
      }

      break;

    case 2:
      lcd_display(0, 0, "  Slow start       ");
      lcd_display(0, 1, "=>Forward speed    ");
      lcd_display(0, 2, "  Reverse speed    ");
      lcd_display(0, 3, "  Slow stop        ");

      if (digitalRead(BTN_OK) == LOW)
      {
        lcd.clear();
        delay(300);
        while (digitalRead(BTN_Exit) != LOW)
        {
          lcd_display(0, 1, " M1 Forward Speed  ");
          lcd_display_int(11, 2, m1_frowardSpped_value);

          if (digitalRead(BTN_UP) == LOW)
          {
            m1_frowardSpped_value++;
            if (m1_frowardSpped_value > 100)
            {
              m1_frowardSpped_value = 0;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }
          else if (digitalRead(BTN_DWN) == LOW)
          {
            m1_frowardSpped_value--;
            if (m1_frowardSpped_value < 0)
            {
              m1_frowardSpped_value = 100;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }

          if (digitalRead(BTN_OK) == LOW)
          {
            EEPROM.update(10, m1_frowardSpped_value);
            save_function();
          }
        }
        delay(300);
      }

      break;

    case 3:
      lcd_display(0, 0, "  Slow start       ");
      lcd_display(0, 1, "  Forward speed    ");
      lcd_display(0, 2, "=>Reverse speed    ");
      lcd_display(0, 3, "  Slow stop        ");

      if (digitalRead(BTN_OK) == LOW)
      {
        lcd.clear();
        delay(300);
        while (digitalRead(BTN_Exit) != LOW)
        {
          lcd_display(0, 1, " M1 Reverse Speed  ");
          lcd_display_int(11, 2, m1_reversedSpped_value);

          if (digitalRead(BTN_UP) == LOW)
          {
            m1_reversedSpped_value++;
            if (m1_reversedSpped_value > 100)
            {
              m1_reversedSpped_value = 0;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }
          else if (digitalRead(BTN_DWN) == LOW)
          {
            m1_reversedSpped_value--;
            if (m1_reversedSpped_value < 0)
            {
              m1_reversedSpped_value = 100;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }

          if (digitalRead(BTN_OK) == LOW)
          {
            EEPROM.update(11, m1_reversedSpped_value);
            save_function();
          }
        }
        delay(300);
      }

      break;

    case 4:
      lcd_display(0, 0, "  Slow start       ");
      lcd_display(0, 1, "  Forward speed    ");
      lcd_display(0, 2, "  Reverse speed    ");
      lcd_display(0, 3, "=>Slow stop        ");

      if (digitalRead(BTN_OK) == LOW)
      {
        lcd.clear();
        delay(300);
        while (digitalRead(BTN_Exit) != LOW)
        {
          lcd_display(0, 1, "   M1 Slow stop   ");
          lcd_display_int(11, 2, m1_slowStop_value);

          if (digitalRead(BTN_UP) == LOW)
          {
            m1_slowStop_value += 10;
            if (m1_slowStop_value > 5000)
            {
              m1_slowStop_value = 0;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }
          else if (digitalRead(BTN_DWN) == LOW)
          {
            m1_slowStop_value -= 10;
            if (m1_slowStop_value < 0)
            {
              m1_slowStop_value = 5000;
            }
            lcd_display(0, 2, "                   ");
            delay(100);
          }

          if (digitalRead(BTN_OK) == LOW)
          {
            int x = m1_slowStop_value / 250;
            int y = m1_slowStop_value % 250;
            EEPROM.update(2, x);
            EEPROM.update(3, y);
            save_function();
          }
        }
        delay(300);
      }

      break;
    }
  }
}

void save_function()
{
  setup_calculation();
  lcd.clear();
  lcd_display(0, 0, "    Saving Data    ");

  for (size_t i = 0; i < 20; i++)
  {
    lcd_display(i, 2, "#");
    delay(300);
  }

  lcd.clear();
  delay(300);
}

void function_Runner()
{
  homePage();
  motor1_optn();
  time_setup_page();
}

//*******************motor function****************
void m1_clock_wise(int speed)
{
  // Serial.print("m1_clck spped ");
  // Serial.println(speed);

  int xpeed = map(speed, 0, 100, 0, 255);
  analogWrite(M1_PWM_L, xpeed);
  analogWrite(M1_PWM_R, 0);
}

void m1_anti_clock_wise(int speed)
{
  // Serial.print("m1 anti_clck spped ");
  // Serial.println(speed);
  int xpeed = map(speed, 0, 100, 0, 255);
  analogWrite(M1_PWM_L, 0);
  analogWrite(M1_PWM_R, xpeed);
}

//**************************************************
void loop()
{
  function_Runner();

  if (digitalRead(Relayin) == LOW)
  {
    if (m1_in_process == false)
    {
      // Serial.println("turn oned");
      setup_calculation();
      m1_in_process = true;
      m1_time_out = false;
    }

    else if (m1_in_process == true)
    {
      m1_time_out = false;
    }
  }

  motor1_process();
}

void motor1_process()
{
  if (m1_in_process == false)
  {
    // Serial.println("process m1 not true");
    return;
  }

  if (m1_clockwise)
  {
    if (m1_incriment <= m1_frowardSpped_value)
    {
      //------------abnormal--------------------
      if (m1_slow_start_value == 0)
      {
        m1_incriment = m1_frowardSpped_value;
        m1_clock_wise(m1_incriment);
        m1_incriment++;
      }
      else if (m1_slow_start_value <= 1000)
      {
        m1_precsion_time_start = m1_slow_start_value / 4;
        if (millis() - m1_slow_start_millis >= m1_precsion_time_start)
        {
          m1_slow_start_millis = millis();
          m1_incriment += (m1_frowardSpped_value / 4);
          if (m1_incriment > m1_frowardSpped_value)
          {
            m1_incriment = m1_frowardSpped_value;
            m1_clock_wise(m1_incriment);
          }
          else
          {
            m1_clock_wise(m1_incriment);
          }
          m1_incriment++;
        }
      }
      else if (m1_slow_start_value > 1000 && m1_slow_start_value <= 2000)
      {
        m1_precsion_time_start = m1_slow_start_value / 5;
        if (millis() - m1_slow_start_millis >= m1_precsion_time_start)
        {
          m1_slow_start_millis = millis();
          m1_incriment += (m1_frowardSpped_value / 5);
          if (m1_incriment > m1_frowardSpped_value)
          {
            m1_incriment = m1_frowardSpped_value;
            m1_clock_wise(m1_incriment);
          }
          else
          {
            m1_clock_wise(m1_incriment);
          }
          m1_incriment++;
        }
      }
      else if (m1_slow_start_value > 2000 && m1_slow_start_value <= 3000)
      {
        m1_precsion_time_start = m1_slow_start_value / 6;
        if (millis() - m1_slow_start_millis >= m1_precsion_time_start)
        {
          m1_slow_start_millis = millis();
          m1_incriment += (m1_frowardSpped_value / 6);
          if (m1_incriment > m1_frowardSpped_value)
          {
            m1_incriment = m1_frowardSpped_value;
            m1_clock_wise(m1_incriment);
          }
          else
          {
            m1_clock_wise(m1_incriment);
          }
          m1_incriment++;
        }
      }

      else if (m1_slow_start_value > 3000 && m1_slow_start_value <= 4000)
      {
        m1_precsion_time_start = m1_slow_start_value / 7;
        if (millis() - m1_slow_start_millis >= m1_precsion_time_start)
        {
          m1_slow_start_millis = millis();
          m1_incriment += (m1_frowardSpped_value / 7);
          if (m1_incriment > m1_frowardSpped_value)
          {
            m1_incriment = m1_frowardSpped_value;
            m1_clock_wise(m1_incriment);
          }
          else
          {
            m1_clock_wise(m1_incriment);
          }
          m1_incriment++;
        }
      }
      else if (m1_slow_start_value > 4000 && m1_slow_start_value <= 5000)
      {
        m1_precsion_time_start = m1_slow_start_value / 8;
        if (millis() - m1_slow_start_millis >= m1_precsion_time_start)
        {
          m1_slow_start_millis = millis();
          m1_incriment += (m1_frowardSpped_value / 8);
          if (m1_incriment > m1_frowardSpped_value)
          {
            m1_incriment = m1_frowardSpped_value;
            m1_clock_wise(m1_incriment);
          }
          else
          {
            m1_clock_wise(m1_incriment);
          }
          m1_incriment++;
        }
      }
      //-----------------------normal--------------------------

      else if (millis() - m1_slow_start_millis >= m1_precsion_time_start)
      {
        m1_slow_start_millis = millis();
        m1_clock_wise(m1_incriment);
        m1_incriment++;
      }
    }

    else if (m1_time_out)
    {

      if (m1_decriment >= 0)
      {

        //------------abnormal--------------------
        if (m1_slowStop_value == 0)
        {
          m1_decriment = 0;
          m1_clock_wise(m1_decriment);
          m1_decriment--;
        }
        else if (m1_slowStop_value <= 1000)
        {
          m1_precsion_time_stop = m1_slowStop_value / 4;
          if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop)
          {
            m1_slow_stop_millis = millis();
            m1_decriment -= (m1_frowardSpped_value / 4);
            if (m1_decriment < 0)
            {
              m1_decriment = 0;
              m1_clock_wise(m1_decriment);
            }
            else
            {
              m1_clock_wise(m1_decriment);
            }
            m1_decriment--;
          }
        }
        else if (m1_slowStop_value > 1000 && m1_slowStop_value <= 2000)
        {
          m1_precsion_time_stop = m1_slowStop_value / 5;
          if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop)
          {
            m1_slow_stop_millis = millis();
            m1_decriment -= (m1_frowardSpped_value / 5);
            if (m1_decriment < 0)
            {
              m1_decriment = 0;
              m1_clock_wise(m1_decriment);
            }
            else
            {
              m1_clock_wise(m1_decriment);
            }
            m1_decriment--;
          }
        }
        else if (m1_slowStop_value > 2000 && m1_slowStop_value <= 3000)
        {
          m1_precsion_time_stop = m1_slowStop_value / 6;
          if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop)
          {
            m1_slow_stop_millis = millis();
            m1_decriment -= (m1_frowardSpped_value / 6);
            if (m1_decriment < 0)
            {
              m1_decriment = 0;
              m1_clock_wise(m1_decriment);
            }
            else
            {
              m1_clock_wise(m1_decriment);
            }
            m1_decriment--;
          }
        }
        else if (m1_slowStop_value > 3000 && m1_slowStop_value <= 4000)
        {
          m1_precsion_time_stop = m1_slowStop_value / 7;
          if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop)
          {
            m1_slow_stop_millis = millis();
            m1_decriment -= (m1_frowardSpped_value / 7);
            if (m1_decriment < 0)
            {
              m1_decriment = 0;
              m1_clock_wise(m1_decriment);
            }
            else
            {
              m1_clock_wise(m1_decriment);
            }
            m1_decriment--;
          }
        }
        else if (m1_slowStop_value > 4000 && m1_slowStop_value <= 5000)
        {
          m1_precsion_time_stop = m1_slowStop_value / 8;
          if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop)
          {
            m1_slow_stop_millis = millis();
            m1_decriment -= (m1_frowardSpped_value / 8);
            if (m1_decriment < 0)
            {
              m1_decriment = 0;
              m1_clock_wise(m1_decriment);
            }
            else
            {
              m1_clock_wise(m1_decriment);
            }
            m1_decriment--;
          }
        }

        //-----------------------normal--------------------------

        else if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop)
        {
          m1_slow_stop_millis = millis();
          m1_clock_wise(m1_decriment);
          m1_decriment--;
        }
      }
      else
      {
        m1_clockwise = false;
        m1_incriment = 0;
        m1_decriment = m1_frowardSpped_value;
        m1_slow_start_millis = 0;
        m1_slow_stop_millis = 0;
        m1_time_out = false;
        m1_in_process = false;
      }
    }
  }
  else
  {

    if (m1_incriment <= m1_reversedSpped_value)
    {
      //------------abnormal--------------------
      if (m1_slow_start_value == 0)
      {
        m1_incriment = m1_reversedSpped_value;
        m1_clock_wise(m1_incriment);
        m1_incriment++;
      }
      else if (m1_slow_start_value <= 1000)
      {
        m1_precsion_time_start_CC = m1_slow_start_value / 4;
        if (millis() - m1_slow_start_millis >= m1_precsion_time_start_CC)
        {
          m1_slow_start_millis = millis();
          m1_incriment += (m1_reversedSpped_value / 4);
          if (m1_incriment > m1_reversedSpped_value)
          {
            m1_incriment = m1_reversedSpped_value;
            m1_anti_clock_wise(m1_incriment);
          }
          else
          {
            m1_anti_clock_wise(m1_incriment);
          }
          m1_incriment++;
        }
      }
      else if (m1_slow_start_value > 1000 && m1_slow_start_value <= 2000)
      {
        m1_precsion_time_start_CC = m1_slow_start_value / 5;
        if (millis() - m1_slow_start_millis >= m1_precsion_time_start_CC)
        {
          m1_slow_start_millis = millis();
          m1_incriment += (m1_reversedSpped_value / 5);
          if (m1_incriment > m1_reversedSpped_value)
          {
            m1_incriment = m1_reversedSpped_value;
            m1_anti_clock_wise(m1_incriment);
          }
          else
          {
            m1_anti_clock_wise(m1_incriment);
          }
          m1_incriment++;
        }
      }
      else if (m1_slow_start_value > 2000 && m1_slow_start_value <= 3000)
      {
        m1_precsion_time_start_CC = m1_slow_start_value / 6;
        if (millis() - m1_slow_start_millis >= m1_precsion_time_start_CC)
        {
          m1_slow_start_millis = millis();
          m1_incriment += (m1_reversedSpped_value / 6);
          if (m1_incriment > m1_reversedSpped_value)
          {
            m1_incriment = m1_reversedSpped_value;
            m1_anti_clock_wise(m1_incriment);
          }
          else
          {
            m1_anti_clock_wise(m1_incriment);
          }
          m1_incriment++;
        }
      }
      else if (m1_slow_start_value > 3000 && m1_slow_start_value <= 4000)
      {
        m1_precsion_time_start_CC = m1_slow_start_value / 7;
        if (millis() - m1_slow_start_millis >= m1_precsion_time_start_CC)
        {
          m1_slow_start_millis = millis();
          m1_incriment += (m1_reversedSpped_value / 7);
          if (m1_incriment > m1_reversedSpped_value)
          {
            m1_incriment = m1_reversedSpped_value;
            m1_anti_clock_wise(m1_incriment);
          }
          else
          {
            m1_anti_clock_wise(m1_incriment);
          }
          m1_incriment++;
        }
      }
      else if (m1_slow_start_value > 4000 && m1_slow_start_value <= 5000)
      {
        m1_precsion_time_start_CC = m1_slow_start_value / 8;
        if (millis() - m1_slow_start_millis >= m1_precsion_time_start_CC)
        {
          m1_slow_start_millis = millis();
          m1_incriment += (m1_reversedSpped_value / 8);
          if (m1_incriment > m1_reversedSpped_value)
          {
            m1_incriment = m1_reversedSpped_value;
            m1_anti_clock_wise(m1_incriment);
          }
          else
          {
            m1_anti_clock_wise(m1_incriment);
          }
          m1_incriment++;
        }
      }
      //-----------------------normal--------------------------

      else if (millis() - m1_slow_start_millis >= m1_precsion_time_start_CC)
      {
        m1_slow_start_millis = millis();
        m1_anti_clock_wise(m1_incriment);
        m1_incriment++;
      }
    }

    else if (m1_time_out)
    {

      if (m1_decriment >= 0)
      {

        //------------abnormal--------------------
        if (m1_slowStop_value == 0)
        {
          m1_decriment = 0;
          m1_anti_clock_wise(m1_decriment);
          m1_decriment--;
        }
        else if (m1_slowStop_value <= 1000)
        {
          m1_precsion_time_stop_CC = m1_slowStop_value / 4;
          if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop_CC)
          {
            m1_slow_stop_millis = millis();

            m1_decriment -= (m1_reversedSpped_value / 4);
            if (m1_decriment < 0)
            {
              m1_decriment = 0;
              m1_anti_clock_wise(m1_decriment);
            }
            else
            {
              m1_anti_clock_wise(m1_decriment);
            }
            m1_decriment--;
          }
        }
        else if (m1_slowStop_value > 1000 && m1_slowStop_value <= 2000)
        {
          m1_precsion_time_stop_CC = m1_slowStop_value / 5;
          if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop_CC)
          {
            m1_slow_stop_millis = millis();

            m1_decriment -= (m1_reversedSpped_value / 5);
            if (m1_decriment < 0)
            {
              m1_decriment = 0;
              m1_anti_clock_wise(m1_decriment);
            }
            else
            {
              m1_anti_clock_wise(m1_decriment);
            }
            m1_decriment--;
          }
        }
        else if (m1_slowStop_value > 2000 && m1_slowStop_value <= 3000)
        {
          m1_precsion_time_stop_CC = m1_slowStop_value / 6;
          if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop_CC)
          {
            m1_slow_stop_millis = millis();

            m1_decriment -= (m1_reversedSpped_value / 6);
            if (m1_decriment < 0)
            {
              m1_decriment = 0;
              m1_anti_clock_wise(m1_decriment);
            }
            else
            {
              m1_anti_clock_wise(m1_decriment);
            }
            m1_decriment--;
          }
        }
        else if (m1_slowStop_value > 3000 && m1_slowStop_value <= 4000)
        {
          m1_precsion_time_stop_CC = m1_slowStop_value / 7;
          if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop_CC)
          {
            m1_slow_stop_millis = millis();

            m1_decriment -= (m1_reversedSpped_value / 7);
            if (m1_decriment < 0)
            {
              m1_decriment = 0;
              m1_anti_clock_wise(m1_decriment);
            }
            else
            {
              m1_anti_clock_wise(m1_decriment);
            }
            m1_decriment--;
          }
        }
        else if (m1_slowStop_value > 4000 && m1_slowStop_value <= 5000)
        {
          m1_precsion_time_stop_CC = m1_slowStop_value / 7;
          if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop_CC)
          {
            m1_slow_stop_millis = millis();

            m1_decriment -= (m1_reversedSpped_value / 7);
            if (m1_decriment < 0)
            {
              m1_decriment = 0;
              m1_anti_clock_wise(m1_decriment);
            }
            else
            {
              m1_anti_clock_wise(m1_decriment);
            }
            m1_decriment--;
          }
        }
        //-----------------------normal--------------------------

        else if (millis() - m1_slow_stop_millis >= m1_precsion_time_stop_CC)
        {
          m1_slow_stop_millis = millis();
          m1_anti_clock_wise(m1_decriment);
          m1_decriment--;
        }
      }
      else
      {
        m1_clockwise = true;
        m1_incriment = 0;
        m1_decriment = m1_frowardSpped_value;
        m1_slow_start_millis = 0;
        m1_slow_stop_millis = 0;
        m1_time_out = false;
        m1_in_process = false;
      }
    }
  }
}