#include <Arduino.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <AccelStepper.h>
#include <Keypad.h>
#include <EEPROM.h>
#include <NewPing.h> // Make sure you have the NewPing library installed
LiquidCrystal_I2C lcd(0x27, 16, 2);
#define StopSwitchPin 5
#define TRIG_PIN  3 // Define the trigger pin
#define ECHO_PIN  2 // Define the echo pin
#define Enpinstep 12 // Define the echo pin
#define MAX_DISTANCE 400 // Maximum distance we want to measure (in centimeters)
NewPing ultrasonic(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
int distance;
/* Keypad setup */
const byte KEYPAD_ROWS = 4;
const byte KEYPAD_COLS = 4;
byte rowPins[KEYPAD_ROWS] = {9, 8, 7, 6};
byte colPins[KEYPAD_COLS] = {A0, A1, A2, A3};
char keys[KEYPAD_ROWS][KEYPAD_COLS] = {
  {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B'},
  {'7', '8', '9', 'C'},
  {'*', '0', '=', 'D'}
};

Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, KEYPAD_ROWS, KEYPAD_COLS);
AccelStepper stepper(AccelStepper::DRIVER, 10, 11);  // Define stepper motor driver pins for STEP and DIR
int mz80Pin = 12; // MZ80 sensörünün bağlandığı pin
int sensorState = LOW; // MZ80 sensörünün ilk durumu
int val = 0; // MZ80 sensöründen okunan değer
// Variables to hold values
float DEGER_ORANTI = 20.03;
int homingPosizyon = 10;
float maxSpeed = 1000.0;
float acceleration = 600.0;
int siperBaslangic = 1;
int siperBitis = 1200;
int hafizaButton0 = 0;
int hafizaButton1 = 0;
int hafizaButton2 = 0;
int hafizaButton3 = 0;
int hafizaButton4 = 0;

// EEPROM addresses
const int addrMaxSpeed = 0;
const int addrAcceleration = 4;
const int addrDEGER_ORANTI = 8;
//const int addrHomingPosizyon = 12;
const int addrsiperBaslangic = 16;
const int addrsiperBitis = 20;
const int addrhafizaButton0 = 24;
const int addrhafizaButton1 = 28;
const int addrhafizaButton2 = 32;
const int addrhafizaButton3 = 36;
const int addrhafizaButton4 = 40;
int menuIndex = -1; // Variable to keep track of the menu state
int stepPosition = 0;  // Target position for the stepper motor
String inputString = "";  // String to hold the input from the keypad

unsigned long previousMillis = 0;  // Zamanı takip etmek için değişken
const long interval = 5000;  // 30 dakika (milisaniye cinsinden)
byte turkce_karakterler[8][8] = {
  { B00000, B00000, B00100, B00100, B00100, B00100, B00100, B00000 }, // ı
  { B10000, B10000, B10110, B11001, B10001, B10001, B10001, B00000 }, // ğ
  { B01010, B00000, B00000, B10001, B10001, B10001, B01110, B00000 }, // ü
  { B00000, B00000, B11111, B00001, B01111, B10001, B01111, B00000 }, // ş
  { B01010, B00000, B01110, B10001, B10001, B10001, B01110, B00000 }, // ö
  { B00000, B00000, B01110, B10000, B10000, B10000, B01110, B00000 }, // ç
  { B01110, B10001, B10000, B11100, B10000, B10001, B01110, B00000 }, // İ
  { B00000, B00000, B11111, B00001, B01111, B10001, B01111, B00000 }  // Ş (büyük harf)
};

void setup() {
  Serial.begin(9600);
  lcd.init();
  lcd.backlight();
  for (int i = 0; i < 8; i++) {
    lcd.createChar(i, turkce_karakterler[i]);
  }

  EEPROM.get(addrMaxSpeed, maxSpeed);
  EEPROM.get(addrAcceleration, acceleration);
  EEPROM.get(addrDEGER_ORANTI, DEGER_ORANTI);
  //EEPROM.get(addrHomingPosizyon, homingPosizyon);
  EEPROM.get(addrsiperBaslangic, siperBaslangic);
  EEPROM.get(addrsiperBitis, siperBitis);
  EEPROM.get(addrhafizaButton0, hafizaButton0);
  EEPROM.get(addrhafizaButton1, hafizaButton1);
  EEPROM.get(addrhafizaButton2, hafizaButton2);
  EEPROM.get(addrhafizaButton3, hafizaButton3);
  EEPROM.get(addrhafizaButton4, hafizaButton4);

  pinMode(StopSwitchPin, INPUT_PULLUP);  // Configure the limit switch pin
  pinMode(Enpinstep, INPUT);  // Configure the limit switch pin

  pinMode(LED_BUILTIN, OUTPUT);
 //yüklerken silinecek
  DEGER_ORANTI = 20.03;
  //homingPosizyon = 10;
  maxSpeed = 1200.0;
  acceleration = 600.0;
  siperBaslangic = 1;
  siperBitis = 1200;
  hafizaButton0 = 340;
  hafizaButton1 = 580;
  hafizaButton2 = 752;
  hafizaButton3 = 800;
  hafizaButton4 = 100;
 

  stepper.setMaxSpeed(maxSpeed);
  stepper.setAcceleration(acceleration);
//yüklerken silinecek
  // Declare key variable outside the loop
  char key;


  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Siper konumu: B");


  do {
    key = keypad.getKey();
    if (key) {
      if (key >= '0' && key <= '9') {
        inputString += key;
        lcd.setCursor(0, 1);
        lcd.print(inputString);
      }
    }

  }
  while (key != 'B');



  // Validate and set initial stepper position
  if (key == 'B') {
    int num = inputString.toInt();
    if (num >= siperBaslangic && num <= siperBitis) {
      stepPosition = num;
      stepper.setCurrentPosition(stepPosition * DEGER_ORANTI);
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.write(4); // ö
      lcd.print("l");
      lcd.write(5); // ç
      lcd.write(2); // ü
      lcd.print(":");
      lcd.setCursor(0, 1);
      lcd.print("Siper:");
      lcd.print(stepPosition);
      inputString = "";
    } else {
      inputString = "";
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.write(4); // ö
      lcd.print("l");
      lcd.write(5); // ç
      lcd.write(2); // ü
      lcd.print(":");
    }

  }

  // Create special characters

  lcd.setCursor(0, 1);
  lcd.write(0); // ı
  lcd.write(1); // ğ
  lcd.write(2); // ü
  lcd.write(3); // ş
  lcd.write(4); // ö
  lcd.write(5); // ç
  lcd.write(6); // İ
  lcd.write(7); // Ş

  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.write(4); // ö
  lcd.print("l");
  lcd.write(5); // ç
  lcd.write(2); // ü
  lcd.print(":");
  lcd.setCursor(0, 1);
  lcd.print("Siper:");
  lcd.print(stepPosition);
}




/*
  void Reklam() {
  // Kayan yazı için metin
  String text = "Bismillahirrahmanirrahim";
  // Metnin uzunluğu
  int textLength = text.length();
  // LCD'nin genişliği
  int lcdWidth = 16;

  // Metni LCD'de kaydır
  for (int i = 0; i < textLength + lcdWidth; i++) {
    // LCD'yi temizle
    lcd.clear();
    // Başlangıç ve bitiş noktalarını hesapla
    int start = max(0, i - lcdWidth + 1);
    int end = min(textLength, i + 1);

    // LCD'ye yazdırılacak kısmı al
    String displayText = text.substring(start, end);

    // Metni LCD'nin ortasında hizala
    lcd.setCursor(lcdWidth - (i - start + 1), 0);
    lcd.print(displayText);
    lcd.setCursor(0, 1);
    lcd.print("YK Dekor");
    // Bir süre bekle
    delay(50);
  }
    lcd.clear();
  }
*/

void loop() {

 bool ToggleHava;
 unsigned long currentMillis = millis();  // Geçen zamanı al

  // Belirli bir süre sonra motoru durdur
  if (currentMillis - previousMillis >= interval) {
    previousMillis = currentMillis;  // Zamanı güncelle
   
    stepper.disableOutputs();
  
  }

 

  

 if (!stepper.isRunning()&&ToggleHava==false) {
   int distance = ultrasonic.ping_cm();
    if (distance > 100 && distance < 400) {
      digitalWrite(LED_BUILTIN, HIGH); // LED'i yak
      ToggleHava==true;
    } else {
    digitalWrite(LED_BUILTIN, LOW); // LED'i söndür
     ToggleHava==false;
    }
 
  }


  if (digitalRead(StopSwitchPin) == LOW) {
    stepper.stop();

    inputString = "";
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Durdur");
    lcd.setCursor(0, 1);
    lcd.print("Siper:");
    int DurdurKonum = stepper.targetPosition();
    lcd.print( DurdurKonum / DEGER_ORANTI);

  }
  char key = keypad.getKey();

  if (key) {
    if (key >= '0' && key <= '9') {
      lcd.clear();
      inputString += key;
      lcd.setCursor(0, 0);
      lcd.write(4); // ö
      lcd.print("l");
      lcd.write(5); // ç
      lcd.write(2); // ü
      lcd.print(":");
      lcd.print(inputString);
    } else if (key == '#') {
      menuIndex = (menuIndex + 1) % 4; // Cycle through menu options
      displayMenu();
      inputString = ""; // Clear input string when switching menu
    } else if (key == 'D') {
      handleMenuOption();
    } else if (key == '*') {
      if (inputString.indexOf('.') == -1) { // Allow only one decimal point
        inputString += '.';
        lcd.setCursor(0, 1);
        lcd.print("Input: ");
        lcd.print(inputString);
      }
    } else if (key == 'A') {
      int num = inputString.toInt();
      if (num >= siperBaslangic && num <= siperBitis) {
        stepPosition = num;
        stepper.moveTo(stepPosition * DEGER_ORANTI);
        inputString = "";
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.write(4); // ö
        lcd.print("l");
        lcd.write(5); // ç
        lcd.write(2); // ü
        lcd.print(":");
        lcd.setCursor(0, 1);
        lcd.print("Siper:");
        lcd.print(stepPosition);
     
      } else {
        inputString = "";
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.write(4); // ö
        lcd.print("l");
        lcd.write(5); // ç
        lcd.write(2); // ü
        lcd.print(":HATALI");
       
      }
    } else if (key == 'B') {
      int num = inputString.toInt();//EEPROM.get(addrsiperBaslangic, siperBaslangic);
      // EEPROM.get(addrsiperBitiş, siperBitiş);
      if (num >= siperBaslangic && num <= siperBitis) {
        stepPosition = num;
        stepper.setCurrentPosition(stepPosition * DEGER_ORANTI);
        inputString = "";
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.write(4); // ö
        lcd.print("l");
        lcd.write(5); // ç
        lcd.write(2); // ü
        lcd.print(":");
        lcd.setCursor(0, 1);
        lcd.print("Siper:");
        lcd.print(stepPosition);
      } else {
        inputString = "";
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.write(4); // ö
        lcd.print("l");
        lcd.write(5); // ç
        lcd.write(2); // ü
        lcd.print(":");
        lcd.setCursor(0, 1);
        lcd.print("Siper:");
        lcd.print(stepPosition);
      }
    } else if (key == 'C') {
      inputString = "";
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.write(4); // ö
      lcd.print("l");
      lcd.write(5); // ç
      lcd.write(2); // ü
      lcd.print(":");
      lcd.setCursor(0, 1);
      lcd.print("Siper:");
      lcd.print(stepPosition);
    } else if (key == '=') {
      menuIndex = (menuIndex + 1) % 13; // Cycle through menu options
      displayMenu();
      inputString = ""; // Clear input string when switching menu
    }
  }

  stepper.run();
  
}

void displayMenu() {
  lcd.clear();
  lcd.setCursor(0, 0);
  switch (menuIndex) {
    case 0:
      lcd.print("1: Max Speed");
      lcd.setCursor(0, 1);
      lcd.print(maxSpeed);
      break;
    case 1:
      lcd.print("2: Acceleration");
      lcd.setCursor(0, 1);
      lcd.print(acceleration);
      break;
    case 2:
      lcd.print("3: DEGER_ORANTI");
      lcd.setCursor(0, 1);
      lcd.print(DEGER_ORANTI);
      break;
    case 3:
      lcd.print("4: sifirlama");
      lcd.setCursor(0, 1);
      lcd.print(homingPosizyon);
      break;
    case 4:
      lcd.print("5: Siper 0");
      lcd.setCursor(0, 1);
      lcd.print(siperBaslangic);
      break;
    case 5:
      lcd.print("6: Siper 150");
      lcd.setCursor(0, 1);
      lcd.print(siperBitis);
      break;
    case 6:
      lcd.print("7: standart ayar");
      lcd.setCursor(0, 1);
      //lcd.print(siperBitis);
      break;
    case 7:
      lcd.print("8:Hizli Git:0");
      lcd.setCursor(0, 1);
      lcd.print(hafizaButton0);
      break;
    case 8:
      lcd.print("9:Hizli Git:1");
      lcd.setCursor(0, 1);
      lcd.print(hafizaButton1);
      break;
    case 9:
      lcd.print("10:Hizli Git:2");
      lcd.setCursor(0, 1);
      lcd.print(hafizaButton2);
      break;
    case 10:
      lcd.print("11:Hizli Git:3");
      lcd.setCursor(0, 1);
      lcd.print(hafizaButton3);
      break;
    case 11:
      lcd.print("11:Hizli Git:4");
      lcd.setCursor(0, 1);
      lcd.print(hafizaButton4);
      break;
    case 12:
      lcd.print("11:info=V:0.1");
      lcd.setCursor(0, 1);
      lcd.print("MMSG1");
      break;
  }
  lcd.setCursor(8, 1);

  lcd.print(menuIndex);
  lcd.print("/0-12");
}

void handleMenuOption() {
  lcd.clear();
  switch (menuIndex) {
    case 0: // Update max speed
      maxSpeed = inputString.toFloat();
      stepper.setMaxSpeed(maxSpeed);
      EEPROM.put(addrMaxSpeed, maxSpeed);
      lcd.print("Max Speed: ");
      lcd.setCursor(0, 1);
      lcd.print(maxSpeed);
      break;
    case 1: // Update acceleration
      acceleration = inputString.toFloat();
      stepper.setAcceleration(acceleration);
      EEPROM.put(addrAcceleration, acceleration);
      lcd.print("Accel: ");
      lcd.setCursor(0, 1);
      lcd.print(acceleration);
      break;
    case 2: // Update DEGER_ORANTI
      DEGER_ORANTI = inputString.toFloat();
      EEPROM.put(addrDEGER_ORANTI, DEGER_ORANTI);
      lcd.print("DEGER_ORANTI: ");
      lcd.setCursor(0, 1);
      lcd.print(DEGER_ORANTI);
      break;
    case 3: // Update homing position
      homingPosizyon = inputString.toInt();
    //  EEPROM.put(addrHomingPosizyon, homingPosizyon);
      lcd.print("Homing Pos: ");
      lcd.setCursor(0, 1);
      lcd.print(homingPosizyon);
      break;
    case 4: // Update homing position
      siperBaslangic = inputString.toInt();
      EEPROM.put(addrsiperBaslangic, siperBaslangic);
      lcd.print("siper baslama: ");
      lcd.setCursor(0, 1);
      lcd.print(siperBaslangic);
      break;
    case 5: // Update homing position
      siperBitis = inputString.toInt();
      EEPROM.put(addrsiperBitis, siperBitis);
      lcd.print("Siper sonu: ");
      lcd.setCursor(0, 1);
      lcd.print(siperBitis);
      break;
    case 6:

      DEGER_ORANTI = 20.03;
      homingPosizyon = 10;
      maxSpeed = 1200.0;
      acceleration = 600.0;
      siperBaslangic = 1;
      siperBitis = 1200;
      lcd.setCursor(0, 1);
      lcd.print("standart ayar tamam: ");
      stepper.setMaxSpeed(maxSpeed);
      stepper.setAcceleration(acceleration);
      break;
    case 7:
      hafizaButton0 = inputString.toInt();
      EEPROM.put(addrhafizaButton0, hafizaButton0);
      lcd.print("Hizli Git:0 ");
      lcd.setCursor(0, 1);
      lcd.print(hafizaButton0);
      break;
    case 8:
      hafizaButton1 = inputString.toInt();
      EEPROM.put(addrhafizaButton1, hafizaButton1);
      lcd.print("Hizli Git:1 ");
      lcd.setCursor(0, 1);
      lcd.print(hafizaButton1);
      break;
    case 9:
      hafizaButton2 = inputString.toInt();
      EEPROM.put(addrhafizaButton2, hafizaButton2);
      lcd.print("Hizli Git:2 ");
      lcd.setCursor(0, 1);
      lcd.print(hafizaButton2);
      break;
    case 10:
      hafizaButton3 = inputString.toInt();
      EEPROM.put(addrhafizaButton3, hafizaButton3);
      lcd.print("Hizli Git:3 ");
      lcd.setCursor(0, 1);
      lcd.print(hafizaButton3);
      break;
    case 11:
      hafizaButton4 = inputString.toInt();
      EEPROM.put(addrhafizaButton4, hafizaButton4);
      lcd.print("Hizli Git:4 ");
      lcd.setCursor(0, 1);
      lcd.print(hafizaButton4);
      break;
  }
  inputString = ""; // Clear input string after handling
}

void homeStepper() {
  stepper.setMaxSpeed(500.0);  // Reduce speed for homing
  stepper.setAcceleration(100.0);

  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("S");
  lcd.write(0); // ı
  lcd.print("f");
  lcd.write(0); // ı
  lcd.print("rlama");

  // Move towards the limit switch
  stepper.moveTo(-10000);  // Move a large number of steps in the negative direction

  while (digitalRead(StopSwitchPin) == HIGH) {
    stepper.run();
  }

  stepper.stop();  // Stop the motor
  stepper.setCurrentPosition(0);  // Set current position as 0
  stepper.setMaxSpeed(1200.0);  // Restore speed
  stepper.setAcceleration(600.0);

  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("S");
  lcd.write(0); // ı
  lcd.print("f");
  lcd.write(0); // ı
  lcd.print("rlama Tamam");
  delay(1000);  // Wait 1 second to display the message
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.write(4); // ö
  lcd.print("l");
  lcd.write(5); // ç
  lcd.write(2); // ü
  lcd.print(":");
  lcd.setCursor(0, 1);
  lcd.print("Siper:");
  lcd.print(stepPosition);
}