// Nikola Šljivić jun 2024
// stepper motor slider with endstops , car dor lock actuator controled with pwm h-bridge 
// Connection to the BTS7960 board:
// BTS7960 Pin 1 (RPwm) to Arduino pin 5(Pwm)
// BTS7960 Pin 2 (LPwm) to Arduino pin 6(Pwm)
// BTS7960 Pin 3 (R_EN), 4 (L_EN), 7 (VCC) to Arduino 5V pin
// BTS7960 Pin 8 (GND) to Arduino GND
// BTS7960 Pin 5 (R_IS) and 6 (L_IS) not connected

//int SENSOR_PIN = 0; // center pin of the potentiometer

int UnLockPwm = 3; // Actuator unlock  Pwm output pin 5; connect to IBT-2 pin 1 (RPwm)
int LockPwm = 5; // Actuator lock Pwm output pin 6; connect to IBT-2 pin 2 (LPwm)
int StopOpenPin = 4; // Slide open endstop pin
int StopClosePin = 6; // Slide close endstop pin
int StepPin = 7; // Slide open endstop pin
int DirPin = 8; // Slide close endstop pin
int TasterOpenPin = 10 ;// Slide open endstop pin
int TasterClosePin = 9; // Slide close endstop pin
int StartTorque = 200;// *torque  is in the range 0 to 255
int HoldTorque = 10;// *torque  is in the range 0 to 255
int Speed = 70; // step interval (lower number higher the speed)
int StartTime = 500000; // 

unsigned long isPressedSince = 0;
boolean buttonIsPressed = false;
unsigned int cekanje =  1000; //vreme zadržavanja u milisekundama 
                             //koje je potrebno da bi se aktiviralo zaklucavanje
                             int pwmpinstate = 0;
int buttonPushCounter = 0;   
int buttonState = 0;        
int lastButtonState = 0;  
int unlock = 0; 

int button = TasterClosePin;

boolean OpenCommand = 0;         // variable for reading the open  switch status
boolean StopOpening = 0;     // variable that stops motor when opening
boolean CloseCommand = 0;   // variable for reading the close  switch status
boolean StopClosing = 0;  //variable that stops the motor when closing
//boolean Lockhard = 0;
//boolean Unlockhard = 0;
//boolean Locsoft = 0;
//boolean Unlocksoft = 0;
//boolean Relax = 0;

void setup()
{
pinMode( UnLockPwm, OUTPUT);
pinMode( LockPwm, OUTPUT);

pinMode( StepPin, OUTPUT);
pinMode( DirPin, OUTPUT);

pinMode( StopOpenPin, INPUT);
pinMode( StopClosePin, INPUT);

pinMode( TasterOpenPin, INPUT);
pinMode( TasterClosePin, INPUT);

pinMode(button, INPUT);

Serial.begin(9600);

digitalRead(OpenCommand);
}

 void SlideOpen()
 {
  // turn motor foward:
  digitalWrite(DirPin, HIGH); //Writes the direction to the Stepper Driver DIR pin. (HIGH is clockwise).
  /*turns the motor 1 step*/
  for (int i = 0; i < 1; i++)
    digitalWrite(StepPin, HIGH);
  delayMicroseconds(Speed);
  digitalWrite(StepPin, LOW);
  delayMicroseconds(Speed);
}

void SlideClose() 
{
  // turn motor foward:
  digitalWrite(DirPin, LOW); //Writes the direction to the Stepper Driver DIR pin. (HIGH is clockwise).
  /*turns the motor 1 step*/
  for (int i = 0; i < 1; i++)
    digitalWrite(StepPin, HIGH);
  delayMicroseconds(Speed);
  digitalWrite(StepPin, LOW);
  delayMicroseconds(Speed);
}
/**
   Stop the motor form moving
*/
void StopSlide() {
  digitalWrite(StepPin, LOW);
}


/**
   energize actuator in unlock mode
*/
void Unlockhard() {
  analogWrite(UnLockPwm, StartTorque);
  analogWrite(LockPwm, 0);
  delayMicroseconds(StartTime);
  
}
void Unlocksoft() {
  analogWrite(UnLockPwm, HoldTorque);
  analogWrite(LockPwm, 0);
  delayMicroseconds(StartTime);
  
}




/**
   energize actuator in unlock mode
*/
void Lockhard() {
  analogWrite(UnLockPwm, 0);
  analogWrite(LockPwm, StartTorque);
  delayMicroseconds(StartTime);
 
} 

/**
   energize actuator in lock soft mode
*/
void Locksoft() {
  analogWrite(UnLockPwm, 0);
  analogWrite(LockPwm, HoldTorque);
  delayMicroseconds(StartTime);
 
} 

void Relax() {
  analogWrite(UnLockPwm, 0);
  analogWrite(LockPwm, 0);
  delayMicroseconds(StartTime);
  
}



void loop()
 {
  // read the state of the input pins value:
  OpenCommand = digitalRead(TasterOpenPin);
  StopOpening = digitalRead(StopOpenPin);
  CloseCommand = digitalRead(TasterClosePin);
  StopClosing = digitalRead(StopClosePin);


 if (OpenCommand == HIGH  && StopClosing == HIGH && StopOpening == LOW)
{
     Unlockhard();
    delayMicroseconds(StartTime);
SlideOpen();
    }
  if (OpenCommand  == HIGH && StopClosing == LOW && StopOpening == LOW)
{
    Unlocksoft();
    delayMicroseconds(StartTime);
    SlideOpen();
    } 

 if (OpenCommand  == HIGH &&  StopClosing == LOW && StopOpening == HIGH)
{
    
StopSlide();
    } 

if (OpenCommand  == LOW && StopClosing == LOW && StopOpening == LOW)
{
    
StopSlide();
delayMicroseconds(StartTime);
Unlocksoft();
    
    } 

    if (OpenCommand  == LOW && StopClosing == HIGH && StopOpening == LOW)
{
    
StopSlide();
delayMicroseconds(StartTime);
//Locksoft();
Relax();

    
    } 

if (CloseCommand == HIGH && StopOpening== HIGH && StopClosing == LOW )
{
     Unlockhard();
     delayMicroseconds(StartTime);
SlideClose();
     
    }
   if(CloseCommand == HIGH && StopOpening == LOW && StopClosing == LOW)
{
    Unlocksoft();
    delayMicroseconds(StartTime);
SlideClose();
    } 

  if (CloseCommand == HIGH && StopOpening == LOW && StopClosing == HIGH)
{
    
StopSlide();
Lockhard();
    } 
if (CloseCommand  == LOW && StopClosing == LOW && StopOpening == LOW)
{
    
StopSlide();
delayMicroseconds(StartTime);

Relax();
}


if (CloseCommand  == LOW && StopClosing == LOW && StopOpening == HIGH)
{
    
StopSlide();
delayMicroseconds(StartTime);

Relax();
}
if (CloseCommand == HIGH && StopClosing == HIGH)
{
  Lockhard();
  delayMicroseconds(StartTime);
    Relax();
}
if (CloseCommand == HIGH && OpenCommand == LOW && StopClosing == HIGH)
{
  Lockhard();
  delayMicroseconds(StartTime);
  Relax();

}
}
void loop1() 
{
  unsigned long currentMillis = millis();
  buttonState = digitalRead(button);
  //pwmpinstate = digitalRead(pwmpin);
  unlock = digitalRead(OpenCommand);
  if (buttonState != lastButtonState) {
    if (buttonState == HIGH) {
      isPressedSince = currentMillis;
      buttonIsPressed=true;
    }
    lastButtonState = buttonState;
  }

  if (buttonState==true  && isPressedSince+cekanje < currentMillis){
    Serial.println("Zakljucano");
    //digitalWrite(pwmpin, HIGH );
    isPressedSince = currentMillis;
  }}