#include <LiquidCrystal_I2C.h>
// initialize the library with the numbers of the interface pins
LiquidCrystal_I2C lcd(0x27, 16, 2);
#include <Keypad.h>//header for keypad commands enabling
const byte ROWS = 4; // Four rows
const byte COLS = 4; // Three columns

int interruptPin = 2;

String  spd = ""; // To get the speed sting value from the keypad
int Speed; // Variable to convert string to integer
int j = 13;
int i = 0;

// Define the Keymap for Keypad
char keys[ROWS][COLS] = {
  {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B'},
  {'7', '8', '9', 'C'},
  {'*', '0', '#', 'D'}
};
// Connect keypad ROW0, ROW1, ROW2 and ROW3 to these Arduino pins.
byte rowPins[ROWS] = {28, 30, 32, 34};
// Connect keypad COL0, COL1 and COL2 to these Arduino pins.
byte colPins[COLS] = {42, 44, 46, 48};
//  Create the Keypad
Keypad kpd = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );
void setup()
{
  // Set the outputs for Stepper motor
  for (int k = 13; k >= 10; k--)
  {
    pinMode(k, OUTPUT); //pins 8-14 are enabled as output
  }

  lcd.begin(16, 2);//initializing LCD
}
void loop()
{

  lcd.init();
  lcd.backlight();
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Direction");

  // Main subroutine
  start();

}

void motor_right()
{
  while (1)
  {
    for (int k = 10; k <= 13; k++)
    {
      digitalWrite(k, HIGH);
      delay(Speed);
      digitalWrite(k, LOW);
    }
    char key4 = kpd.getKey();
    if (key4 == '*')
      return loop();
  }
}


// Function for left rotation of the motor
void motor_left()
{
  while (1)
  {
    for (int k = 13; k >= 10; k--)
    {
      digitalWrite(k, HIGH);
      delay(Speed);
      digitalWrite(k, LOW);
    }
    char key3 = kpd.getKey();
    if (key3 == '*')
    {
      return loop();
    }
  }
}

// Function for right rotation of the motor


// Main function
void start()
{
  spd = "";
  Speed = 0;
  while (1)
  {
    char key = kpd.getKey(); //storing pressed key value in a char

    if (key != NO_KEY)
    {

      //For Right rotation
      if (key == 'B')
      {
        key = NO_KEY;
        while (1)
        {
          lcd.setCursor(12, 0);
          lcd.print("Right");
          delay(500);
          lcd.setCursor(0, 1);
          lcd.print("Speed");
          while (1)
          {
            char key2 = kpd.getKey();
            if (key2 != NO_KEY)
            {
              lcd.setCursor(j, 1);
              lcd.print(key2);
              spd += (char)key2; // Get the speed string value to "spd" variable
              Speed = spd.toInt(); // Convert the stirng value to an integer & sorte into the "Speed" variable
              j++;

              if (key2 == '#') // Condition for left roatation
              {
                key2 = NO_KEY;
                motor_right();
              }
            }
          }
        }
      }
      //For Left rotation
      if (key == 'A')
      {
        key = NO_KEY; // Clear the pressed key data
        while (1)
        {
          lcd.setCursor(12, 0);
          lcd.print("Left");
          delay(500);
          lcd.setCursor(0, 1);
          lcd.print("Speed");
          while (1)
          {
            char key2 = kpd.getKey();
            if (key2 != NO_KEY)
            {
              lcd.setCursor(j, 1);
              lcd.print(key2);
              spd += (char)key2; // Get the speed string value to "spd" variable
              Speed = spd.toInt(); // Convert the stirng value to an integer & sorte into the "Speed" variable
              j++;

              if (key2 == '#') // Condition for left roatation
              {
                key2 = NO_KEY;
                motor_left();
              }
            }
          }
        }
      }
    }
  }
}