#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Keypad.h>
#include <HX711.h>

// Initialize the I2C LCD
LiquidCrystal_I2C lcd(0x27, 16, 2); // I2C address 0x27 for the LCD

// Keypad setup
const byte ROWS = 4; // Four rows
const byte COLS = 4; // Four columns
char keys[ROWS][COLS] = {
  {'1','2','3','A'},
  {'4','5','6','B'},
  {'7','8','9','C'},
  {'*','0','#','D'}
};
byte rowPins[ROWS] = {9, 8, 7, 6}; // Connect to the row pinouts of the keypad
byte colPins[COLS] = {A3, A2, A1, A0}; // Connect to the column pinouts of the keypad
Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);

// Define pins for sensors and actuators
const int hx711DTPin = 3; // HX711 DT pin
const int hx711SCKPin = 2; // HX711 SCK pin
const int motorPin1 = 10; // IN1 for L298N
const int motorPin2 = 11; // IN2 for L298N
const int vibratorMotorPin = 12; // Digital pin for vibrator motor
const int buttonPin = 4; // Digital pin for push button

// HX711 setup
HX711 scale;

// Variable to store the desired weight
float targetWeight = 0;
float currentWeight = 0;
bool weightSet = false; // Flag to check if weight is set

void setup() {
  // Initialize the LCD
  lcd.init(); // Initialize the 16x2 LCD
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("Wazan Dubao:");

  // Initialize pins
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(vibratorMotorPin, OUTPUT);
  pinMode(buttonPin, INPUT_PULLUP); // Button pin as input with internal pull-up resistor

  // Initialize HX711
  scale.begin(hx711DTPin, hx711SCKPin);
  scale.set_scale(); // Adjust to your calibration factor
  scale.tare(); // Reset the scale to zero

  lcd.setCursor(0, 1);
  lcd.print("Tare complete");
  delay(1000); // Allow some time to read the tare message
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Enter weight:");
}

void loop() {
  if (!weightSet) {
    char key = keypad.getKey();
    if (key) {
      if (key >= '0' && key <= '9') {
        targetWeight = targetWeight * 10 + (key - '0');
        lcd.setCursor(0, 1);
        lcd.print(targetWeight);
        lcd.print("g       ");
      } else if (key == '#') {
        // Set the weight
        weightSet = true;
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("Weight set:");
        lcd.setCursor(0, 1);
        lcd.print(targetWeight);
        lcd.print("g");
        delay(1000);
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("Ready to start.");
      } else if (key == '*') {
        // Reset weight
        targetWeight = 0;
        lcd.setCursor(0, 1);
        lcd.print("           ");
      }
    }
  } else {
    // Ready to dispense material
    lcd.setCursor(0, 1);
    lcd.print("Press # to start");
    char key = keypad.getKey();
    if (key == '#') {
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Dispensing...");
      dispenseMaterial();
    }
  }

  // Check if the button is pressed to trigger motor sequence
  if (digitalRead(buttonPin) == LOW) {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Button pressed");

    // Turn on motorPin2 for 2 seconds
    digitalWrite(motorPin2, HIGH);
    delay(1500);
    digitalWrite(motorPin2, LOW);

    // Delay between motor actions if needed
    delay(100);  // Adjust as necessary

    // Turn on motorPin1 for 2 seconds
    digitalWrite(motorPin1, HIGH);
    delay(1000);
    digitalWrite(motorPin1, LOW);

    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("2 baar # Dubao .");
  }
}

void dispenseMaterial() {
  bool vibratorOn = false;
  digitalWrite(vibratorMotorPin, LOW);
  currentWeight = 0; // Reset current weight at the start
  while (currentWeight < targetWeight) {
    // Read weight from the load cell
    currentWeight = scale.get_units();
    
    if (currentWeight < targetWeight - 10) {
      // Activate vibrator motor at full speed
      digitalWrite(vibratorMotorPin, HIGH);
    } else if (currentWeight < targetWeight) {
      // Vibrator motor runs intermittently
      digitalWrite(vibratorMotorPin, HIGH);
      delay(100);
      digitalWrite(vibratorMotorPin, LOW);
      delay(100);
      if (!vibratorOn) {
        vibratorOn = true;
      }
    }

    lcd.setCursor(0, 1);
    lcd.print("Weight: ");
    lcd.print(currentWeight);
    lcd.print("g       ");
  }
  digitalWrite(vibratorMotorPin, LOW);
  closeBucket();
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Complete!");
  delay(1000);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("pedal dubao.");
  currentWeight = 0;
  weightSet = false; // Reset the weight set flag for next use
}

void closeBucket() {
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, LOW);
  delay(0); // Adjust the delay to control how long the motor runs to close the bucket
  stopMotor();
}

void stopMotor() {
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, LOW);
}