#include <Bounce2.h>
#define BTN_START A3
Bounce B_BTN_START = Bounce();

#include "A4988.h"

#define MOTOR_STEPS 200 //全步脉冲
#define MICROSTEPPING 16 //细分
#define RPM 50

#define S1_DIR 5
#define S1_STEP 2

#define S2_DIR 6
#define S2_STEP 3

#define S3_DIR 7
#define S3_STEP 4

#define S4_DIR 13
#define S4_STEP 12
A4988 stepper1(MOTOR_STEPS, S1_DIR, S1_STEP);
A4988 stepper2(MOTOR_STEPS, S2_STEP, S2_STEP);
A4988 stepper3(MOTOR_STEPS, S3_STEP, S3_STEP);
A4988 stepper4(MOTOR_STEPS, S4_STEP, S4_STEP);

int FORWARD = 3200;
int REVERSE = 800;

#include <Wire.h>
#include "LiquidCrystal_I2C_Menu.h"
LiquidCrystal_I2C_Menu lcd(0x27, 16, 2);

// Пины, к которым подключен энкодер
#define pinCLK A1
#define pinDT  A0
#define pinSW  A2

// Объявим перечисление, используемое в качестве ключа пунктов меню
enum {mkBack, mkRoot, mkRPM, mkFORWARD, mkREVERSE};

// Описание меню
// структура пункта меню: {ParentKey, Key, Caption, [Handler]}
sMenuItem menu[] = {
  {mkBack, mkRoot, "Filling machine"},
    {mkRoot, mkRPM, "RPM"},//转速
    {mkRoot, mkFORWARD, "FORWARD"},//正转多少个脉冲
    {mkRoot, mkREVERSE, "REVERSE"},//反转多少个脉冲
    {mkRoot, mkBack, "Back"},
};

uint8_t menuLen = sizeof(menu) / sizeof(sMenuItem);

void setup() {
  Serial.begin(115200);
  lcd.begin();
  lcd.attachEncoder(pinDT, pinCLK, pinSW);
  stepper1.begin(RPM, MICROSTEPPING);
  stepper2.begin(RPM, MICROSTEPPING);
  stepper3.begin(RPM, MICROSTEPPING);
  stepper4.begin(RPM, MICROSTEPPING);
  B_BTN_START.attach(BTN_START, INPUT_PULLUP);   //按钮_启动-含消抖
}

void loop() {
  // Показываем меню
  Serial.println("AA");
  uint8_t selectedMenuItem = lcd.showMenu(menu, menuLen, 1);
  // И выполняем действия в соответствии с выбранным пунктом
  if (selectedMenuItem == mkRPM){
      lcd.printf("RPM:%d",RPM);
    }
  else if (selectedMenuItem == mkFORWARD) {
    FORWARD = lcd.inputVal <long> ("FORWARD", 0, 10000, FORWARD, 100);
    lcd.print("Done.");
  }
  else if (selectedMenuItem == mkREVERSE) {
    REVERSE = lcd.inputVal <long> ("REVERSE", 0, 10000, REVERSE, 100);
    lcd.print("Done.");
  }
  else if (selectedMenuItem == mkBack) {
    lcd.print("Exit selected");
  }
  while (lcd.getEncoderState() == eNone){
    Serial.println("AAAAA");
  }
  Serial.println("AA");
  B_BTN_START.update();
  if (B_BTN_START.rose()) {
    Serial.println("START");
    stepper1.move(FORWARD);
    stepper1.move(-REVERSE);
  }
  delay(100);
}