#define SD_CS_PIN 10  // Replace 10 with your actual CS pin number

#include <Arduino.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <AccelStepper.h>
#include <Keypad.h>
#include <EEPROM.h>
#include <SPI.h>
#include <SdFat.h> // SdFat kütüphanesi eklendi

SdFat sd; // SdFat nesnesi oluşturuldu

// LCD setup
LiquidCrystal_I2C lcd(0x27, 16, 2);

// Stop switch pin
const int hareketver1 = 6;
const int hareketver2 = 7;
float DEGER_ORANTI = 20.03;
int homingPosizyon = 10;
float maxSpeed = 1000.0;
float acceleration = 600.0;
int tekrar = 0;
// Keypad setup
const byte KEYPAD_ROWS = 4;
const byte KEYPAD_COLS = 4;
byte rowPins[KEYPAD_ROWS] = {5, 4, 3, 2};
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'}
};

AccelStepper stepper(AccelStepper::DRIVER, 8, 9);
Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, KEYPAD_ROWS, KEYPAD_COLS);
String inputString = "";
String KomutSatir = "";
int menuIndex = -1;
int stepPosition = 0;

void setup() {
  Serial.begin(9600);
  lcd.init();
  lcd.backlight();
  DEGER_ORANTI = 20.00;
  maxSpeed = 1200.0;
  acceleration = 600.0;
  stepper.setMaxSpeed(maxSpeed);
  stepper.setAcceleration(acceleration);
  
  // Set relay pins as outputs
  pinMode(hareketver1, OUTPUT);
  pinMode(hareketver2, OUTPUT);
  
  // Ensure relays are off initially
  digitalWrite(hareketver1, HIGH);
  digitalWrite(hareketver2, HIGH);
 if (!sd.begin(SD_CS_PIN, SD_SCK_MHZ(50))) {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("SD init failed");
    while (1); // Stop the program if SD card initialization fails
  }
 

  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("SD Kart Basarili");
  delay(2000);
  lcd.clear();
}

void loop() {
  char key = keypad.getKey();
  if (key) {
    if (key >= '0' && key <= '9') {
      inputString += key;
      lcd.setCursor(0, 0);
      lcd.print(inputString);
    } else if (key == 'A') {
      handleMenuOption();
    } else if (key == 'B') {
     
      KomutSatir = "";
    } else if (key == 'C') {
      
      inputString = "";
    } else if (key == 'D') {
      menuIndex = (menuIndex + 1) % 10; // Cycle through menu options
      displayMenu();
    } else if (key == '=') {
      writeToSDCard(KomutSatir);
        inputString = "";
        KomutSatir="";
    } else if (key == '*') {
      StartStepmotor(tekrar);
    }
  }
  stepper.run();
}

void displayMenu() {
  lcd.clear();
  lcd.setCursor(0, 0);
  switch (menuIndex) {
    case 0:
     lcd.print("     M0:T tekrar");
     
     
      break;
    case 1:
      lcd.print("M1: G Kordinat");
      inputString = "G";
      break;
    case 2:
    
        lcd.print("M2: X Kordinat");
      inputString = "X";
      break;
    case 3:
  lcd.print("M3: F Feedrate");
      inputString = "F";
    
      
      break;
    case 4:
     lcd.print("M4: P bekleme");
      inputString = "P";
     
      break;
    case 5:
      lcd.print("M5: . nokta ");
      inputString = ".";
      break;
    case 6:
    lcd.print("M6: - Eksi");
      inputString = "-";
      break;
    case 7:
     lcd.print("M7:direk rakam");
      break;
    case 8:
         lcd.print("M8: R Role1 ");
      inputString = "R";
      break;
    case 9:
    lcd.print("M9: R2 Röle2 ");
      inputString = "N";
     
      break;
   
  }
  lcd.setCursor(0, 1);
  lcd.print(KomutSatir);
  lcd.setCursor(8, 1);
  lcd.print(menuIndex);
  lcd.print("/0-12");
}

void handleMenuOption() {
  lcd.clear();
 int numara = inputString.toInt();
  switch (menuIndex) {
    case 0:
       tekrar = numara;
         lcd.setCursor(0, 1);
  lcd.print("tekrar =");
  lcd.print(tekrar);
  inputString = ""; // Clear input string after handling
      break;
    case 1:
      KomutSatir += inputString;
      break;
    case 2:
      KomutSatir += inputString;
      break;
    case 3:
     KomutSatir += inputString;
    
      break;
    case 4:
      KomutSatir += inputString;
      break;
    case 5:
      KomutSatir += inputString;
      break;
    case 6:
      KomutSatir += inputString;
      break;
    case 7:
      KomutSatir += inputString;
      break;
    case 8:
      KomutSatir += inputString;
      break;
    case 9:
       KomutSatir += inputString;
      break;
   
    default:
      break;
  }
  lcd.setCursor(0, 1);
  lcd.print(KomutSatir);

  inputString = ""; // Clear input string after handling
}

void writeToSDCard(String data) {
  File myFile;
  myFile = sd.open("data.txt", FILE_WRITE);
  if (myFile) {
    myFile.println(data);
    myFile.close();
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Yazma Basarili");
  } else {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Yazma Hatali");
  }
  delay(500);
  lcd.clear();
}

void StartStepmotor(int repeatCount) {
   for (int i = 0; i < repeatCount; i++) {
  File myFile;
  myFile = sd.open("data.txt", FILE_READ);
  if (myFile) {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Kayit isleniyor:");
    String data = "";
    while (myFile.available()) {
      char ch = myFile.read();
      if (ch == '\n') {
       
          processCommand(data);
        
        data = "";
      } else {
        data += ch;
      }
    }
    if (data.length() > 0) {
     
        processCommand(data); // For the last line
     
    }
    myFile.close();
  } else {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Dosya okuma hatasi");
  }
    lcd.clear();
    lcd.setCursor(8, 1);
  
    
       lcd.print("Tekrar=");
     lcd.print(repeatCount);
   }
}

void processCommand(String command) {
  int G_value = -1;
  int X_value = -1;
  int F_value = -1;
  int R_value = -1;
  int N_value = -1;
  int P_value = -1;
  int T_value = -1;
  // Parse command string
  int gIndex = command.indexOf('G');
  int xIndex = command.indexOf('X');
  int fIndex = command.indexOf('F');
  int rIndex1 = command.indexOf("R");
  int rIndex2 = command.indexOf("N");
  int pIndex = command.indexOf('P');
  int tIndex = command.indexOf('T');
  if (gIndex != -1) {
    int endIndex = command.indexOf(' ', gIndex);
    if (endIndex == -1) endIndex = command.length();
    G_value = command.substring(gIndex + 1, endIndex).toInt();
  }
  if (xIndex != -1) {
    int endIndex = command.indexOf(' ', xIndex);
    if (endIndex == -1) endIndex = command.length();
    X_value = command.substring(xIndex + 1, endIndex).toInt();
  }
  if (fIndex != -1) {
    int endIndex = command.indexOf(' ', fIndex);
    if (endIndex == -1) endIndex = command.length();
    F_value = command.substring(fIndex + 1, endIndex).toInt();
  }
  if (rIndex1 != -1) {
    int endIndex = command.indexOf(' ', rIndex1);
    if (endIndex == -1) endIndex = command.length();
    R_value = command.substring(rIndex1 + 1, endIndex).toInt();
  }
  if (rIndex2 != -1) {
    int endIndex = command.indexOf(' ', rIndex2);
    if (endIndex == -1) endIndex = command.length();
    N_value = command.substring(rIndex2 + 1, endIndex).toInt();
  }
  if (pIndex != -1) {
    int endIndex = command.indexOf(' ', pIndex);
    if (endIndex == -1) endIndex = command.length();
    P_value = command.substring(pIndex + 1, endIndex).toInt();
  }
  if (tIndex != -1) {
    int endIndex = command.indexOf(' ', tIndex);
    if (endIndex == -1) endIndex = command.length();
    T_value = command.substring(tIndex + 1, endIndex).toInt();
  }
 
  // Process parsed values
  switch (G_value) {
    case 0:
      stepmotor(X_value, F_value);
      break;
  }

  switch (R_value) {
    case 0:
      digitalWrite(hareketver1, HIGH); // Turn relay 2 on
      break;
    case 1:
      digitalWrite(hareketver1, LOW); // Turn relay 1 off
      break;
  }

  switch (N_value) {
    case 0:
      digitalWrite(hareketver2, HIGH); // Turn relay 2 on
      break;
    case 1:
      digitalWrite(hareketver2, LOW); // Turn relay 2 off
      break;
  }

  if (P_value != -1) {
    /*
    int beklemeyap = millis() / 1000;
    inputString = "";
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Durdur");

    for (int i = 0; i < P_value; i++) {
}
*/
      delay(1000);

    

    lcd.clear();
  }
  
}

void stepmotor(int X, int F) {
  // Implement the step motor control logic here
  if (X >= 0 && X <= 1200) { // Check if the position is within valid range
    stepper.setMaxSpeed(F); // Set the feedrate as the maximum speed
    stepper.moveTo(X); // Move to the specified position

    while (stepper.distanceToGo() != 0) {
      stepper.run();
    }

    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("X:");
    lcd.print(X);
    lcd.setCursor(0, 1);
    lcd.print("F:");
    lcd.print(F);
  } else {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Olculer Hatali");
  }
}