#include <LiquidCrystal.h>
#include <Encoder.h>
#include <TimerThree.h>

// define simulator or real arduino
#define simulator

// Rotary Encoder Inputs
#define pinOout 8

#define pinEstop 18
#define pinSW 19
#define pinA 20
#define pinB 21

// rotary encoder min/max values
#define maxPWM 100
#define maxPID 150
#define minVAL 0

//define the control modes
#define PWM 0
#define PID 1
volatile int newPosition = 0;
volatile int oldPosition = 0;

volatile int controlMode = PID; // [0 - PWM] [1 - PID]
volatile bool controlChange = false;
//   Best Performance: both pins have interrupt capability
Encoder tempEnc(pinA, pinB);


// select the pins used on the LCD panel
#ifdef simulator
// for simulator
LiquidCrystal lcd(13, 12, 7, 6, 5, 4);
#else
// for real arduino
LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
#endif


void setup() {
  //set the interrupt for the estop
  pinMode(pinEstop, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(pinEstop), estop, LOW);

  // use timer 3 to set refresh rate
  Timer3.initialize(100000); // 10 FPS
  Timer3.attachInterrupt(updateScreen); // call update screen every 0.1 seconds

  // lcd initialization
  lcd.begin(16, 2);  // start the library
  lcd.setCursor(0, 0);
  lcd.print("Screen Enc V2");  // print a simple message
  delay(1000);
  lcd.clear();

  // set up interrupts for the switch
  pinMode(pinSW, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(pinSW), updateMode, FALLING); // attach the flag setting the controlChange flag

  // Call the updateMode
  updateMode();

  // Setup Serial Monitor1
  Serial.begin(9600);

}


/////////////////////////////////////////////////////////////////////////////////////////////////////////
void estop() {
  byte stillPressed = digitalRead(pinEstop);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("**ESTOP**");  // print the ESTOP message
  while (stillPressed == 0) {
    lcd.setCursor(0, 0);
    lcd.print("**ESTOP WHILE**");  // print the ESTOP message
    stillPressed = digitalRead(pinEstop);
  }
  lcd.setCursor(0, 1);
  lcd.print("AFTER WHILE");  // print the ESTOP message
  asm volatile ("jmp 0"); // assembly function for reset
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////


void updateMode() {
  //controlChange = 1; //set the control change flag - depricated we change the screen once in this interrupt
  if (controlMode == PWM) {
    controlMode = PID;

    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("TEMP:        PID");  // print the PID message
    lcd.setCursor(0, 1);
    lcd.print("TEMP:        ");  // print the PID message
  }

  else if (controlMode == PID) {
    controlMode = PWM;

    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("TEMP:        PWM");  // print the PWM message
    lcd.setCursor(0, 1);
    lcd.print("POWR:           ");  // print a simple message
  }
  controlChange = true;
  tempEnc.write(minVAL);
  updateScreen();
}

void updateScreen() {

  // PID screen loop
  if (controlMode == PID) {
    newPosition = tempEnc.read() / 4; //read the encoder value and convert to number of detents
    if (newPosition != oldPosition || controlChange == true) {
      if (newPosition > maxPID) { //check for overflow
        newPosition = maxPID;
        tempEnc.write(maxPID * 4);
      }

      else if (newPosition < minVAL) { // check for underflow
        newPosition = minVAL;
        tempEnc.write(minVAL);
      }
      oldPosition = newPosition;

      lcd.setCursor(6, 1);             // move to the temp position of the second line
      lcd.print("     ");              // Clear the old value to prevent stray characters
      lcd.setCursor(6, 1);             // move to the temp position of the second line
      lcd.print(newPosition);          // print the current value
      lcd.print("*C");                 // print the unit

      controlChange = false;
    }
  }

  //PWM screen loop
  else if (controlMode == PWM) {
    newPosition = tempEnc.read() / 4; //read the encoder value and convert to number of detents
    if (newPosition != oldPosition || controlChange == true) {
      if (newPosition > maxPWM) { //check for overflow
        newPosition = maxPWM;
        tempEnc.write(maxPWM * 4);
      }

      else if (newPosition < minVAL) { // check for underflow
        newPosition = minVAL;
        tempEnc.write(minVAL);
      }

      oldPosition = newPosition;

      lcd.setCursor(6, 1);             // move to the temp position of the second line
      lcd.print("     ");              // Clear the old value to prevent stray characters
      lcd.setCursor(6, 1);             // move to the temp position of the second line
      lcd.print(newPosition);          // print the current value
      lcd.print("%");                 // print the unit

      controlChange = false;
    }
  }
}


void loop() {
  //updateScreen();
  delay(10000); // delay for 10 seconds
}