#include <Wire.h>
#include <Keypad.h>
#include <Stepper.h>
#include <AccelStepper.h>
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27, 16, 2);

// Define Stepper Motor
AccelStepper stepper(AccelStepper::FULL4WIRE, 9, 8); // 2 and 3 are the initial stepper motor pins


const byte ROWS = 4;
const byte COLS = 4;

const char deleteKey = 'D';
const float mmPerStep = 8; // One step moves 3.15 mm
float speed = 0; 
bool isFeeding = false;
bool invertedOperation = false;
bool useSubstitutePins = false;

byte rowPins[ROWS] = {28, 30, 32, 34};
byte colPins[COLS] = {42, 44, 46, 48};

char Keys[ROWS][COLS] = {
  {'1', '2', '3', 'U'},
  {'4', '5', '6', 'R'},
  {'7', '8', '9', 'L'},
  {'T', '0', 'S', 'D'}
};

Keypad keypad = Keypad(makeKeymap(Keys), rowPins, colPins, ROWS, COLS);

void setup() {
Serial.begin(9600);
 //keypad.addEventListener(keypadEvent); //add an event listener for this keypad
// keypad.setHoldTime (3000);
  lcd.init();           // initialize the lcd 
  lcd.backlight();
  lcd.setCursor(1,0);
  lcd.print("S A Z E T E B");
  delay(3000);
  lcd.setCursor(0,1);
  lcd.print("Infusion pump");
  delay(1000);
  lcd.setCursor(13,1);
  lcd.print(".");
  delay(500);
  lcd.setCursor(14,1);
  lcd.print(".");
  delay(500);
  lcd.setCursor(15,1);
  lcd.print(".");
  delay(2000);
    lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("OPERATION:");
  lcd.setCursor(0, 1);
  lcd.print("PULSE:");
  stepper.setMaxSpeed(100); // Adjust this to your desired speed
  stepper.setAcceleration(50); // Adjust this to your desired acceleration
}

void loop() {
  char Key = keypad.getKey();

  if (Key != NO_KEY) {
   if (Key == deleteKey) {
     speed = 0;
     lcd.setCursor(7, 1);
     lcd.print("                "); // Clear the display
     lcd.setCursor(7, 1);
     lcd.print("DELETE");
     delay(1000);
     lcd.setCursor(0, 1);
     lcd.print("                "); // Clear the display
     lcd.setCursor(0, 1);
     lcd.print("PULSE:");
    } else if (isdigit(Key)){
      speed = speed * 10 + (Key - '0');
      lcd.setCursor(7, 1);
      lcd.print("                "); // Clear the display
      lcd.setCursor(7, 1);
      lcd.print(speed);
    } else if (Key == 'S' && !isFeeding) { // Check if not already feeding
      isFeeding = true;
      speedSetting();
    } else if (Key == 'T' && isFeeding) { // Check if 'T' key is pressed while feeding
      stepper.stop(); // Stop the motor
      isFeeding = false;
      lcd.setCursor(7, 1);
      lcd.print("                "); // Clear the display
      lcd.setCursor(7, 1);
      lcd.print("STOP");
      delay(1000);
      lcd.setCursor(7, 1);
      lcd.print("                "); // Clear the display
      lcd.setCursor(0, 1);
      lcd.print("PULSE:");
    }
       else if (Key == 'R'){
    useSubstitutePins = !useSubstitutePins;
    if (useSubstitutePins){
     AccelStepper stepper(AccelStepper::FULL4WIRE, 8, 9);
    }
    else {
     AccelStepper stepper(AccelStepper::FULL4WIRE, 9, 8);
    }
     stepper.setMaxSpeed(100); // Reconfigure stepper parameters
     stepper.setAcceleration(50);
     lcd.setCursor(11, 0);
     lcd.print("                "); // Clear the display
     lcd.setCursor(11, 0);
    if (useSubstitutePins){ 
       lcd.print("LEFT");
       invertedOperation = true; // Set direction to inverted
      }
    else {
       lcd.print("RIGHT");
       invertedOperation = false; // Set direction to normal
      }
     }else if (Key == 'A') { // Start feeding with 'A' key
      if (!isFeeding) {
        isFeeding = true;
        if (invertedOperation) {
          stepper.setSpeed(-1000); // Set a negative speed for inverted direction
        } else {
          stepper.setSpeed(1000); // Set a positive speed for normal direction
        }
      }
    }
  }
}

void speedSetting(){
int stepsToMove = speed + mmPerStep;
  if(stepsToMove > 1){
   if (invertedOperation){
   stepsToMove = -stepsToMove;  // Invert direction
   }
    stepper.moveTo(stepsToMove); // Use moveTo to set target position
    lcd.setCursor(7, 1);
    lcd.print("                "); // Clear the display
    lcd.setCursor(7, 1);
    lcd.print("RUNNING"); // Display "Feeding..." while the motor is running
    while (stepper.isRunning()){
       stepper.run();
       if (keypad.getKey() == 'T') { // Check if 'T' key is pressed during feeding
        stepper.stop(); // Stop the motor
        isFeeding = false;
        lcd.setCursor(7, 1);
        lcd.print("                "); // Clear the display
        lcd.setCursor(7, 1);
        lcd.print("STOP");
        delay(1000);
        lcd.setCursor(0, 1);
        lcd.print("                "); // Clear the display
        lcd.setCursor(0, 1);
        lcd.print("PULSE:");
        return; 
      }
    }
      speed += abs(stepsToMove) * mmPerStep * (invertedOperation ? -1 : 1);  
  }
}
//void keypadEvent(KeypadEvent key){
  //switch (keypad.getState()){
   // case PRESSED:
      //switch (key){
       // case 'U':
        //lcd.setCursor(0, 1);
        //lcd.print("                  ");   
       // lcd.setCursor(0, 0);
       // lcd.print("                  ");
        //lcd.setCursor(0, 0);
       // lcd.print("Enter Speed:");
       // break;
      //}
   // case HOLD:
     // switch (key){
       // case 'L':
       // lcd.setCursor(0, 0);
       // lcd.print("                  ");
       // lcd.setCursor(0, 0);
       // lcd.print("Enter Operation:"); 
       // break;
  //}
 //}
//}