#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <AccelStepper.h>
#include <Encoder.h>

#define STEP_PIN_1 2
#define DIR_PIN_1 3
#define STEP_PIN_2 4
#define DIR_PIN_2 5
#define POT_PIN A0
#define ENCODER_A 7
#define ENCODER_B 8
#define ENCODER_BUTTON 9

AccelStepper stepper1(AccelStepper::DRIVER, STEP_PIN_1, DIR_PIN_1);
AccelStepper stepper2(AccelStepper::DRIVER, STEP_PIN_2, DIR_PIN_2);
Encoder myEnc(ENCODER_A, ENCODER_B);
LiquidCrystal_I2C lcd(0x27, 16, 2); // Set the LCD I2C address

float encoderValue = 0.10;
float speedMultiplier = 1.0;

void setup() {
  pinMode(ENCODER_BUTTON, INPUT_PULLUP);
  stepper1.setMaxSpeed(1000);
  stepper2.setMaxSpeed(1000);
  Serial.begin(9600);
  lcd.init();
  lcd.backlight();
}

void loop() {
  // Read potentiometer value
  int potValue = analogRead(POT_PIN);
  float speed1 = map(potValue, 0, 1023, 0, 1000);

  // Read encoder value
  long newPosition = myEnc.read();
  encoderValue = (newPosition / 4) * 0.05; // Encoder steps to value in steps of 0.05
  if (encoderValue < 0.10) encoderValue = 0.10;
  if (encoderValue > 3.00) encoderValue = 3.00;

  // Display encoder value on LCD
  lcd.setCursor(0, 0);
  lcd.print("Value: ");
  lcd.print(encoderValue, 2);

  // Check encoder button
  if (digitalRead(ENCODER_BUTTON) == LOW) {
    speedMultiplier = encoderValue;
    lcd.setCursor(0, 1);
    lcd.print("Selected: ");
    lcd.print(speedMultiplier, 2);
  }

  // Calculate speed for stepper 2
  float speed2 = speed1 * speedMultiplier;

  // Set speeds for steppers
  stepper1.setSpeed(speed1);
  stepper1.runSpeed();
  stepper2.setSpeed(speed2);
  stepper2.runSpeed();

  delay(10); // Small delay for debounce
}