#include <Stepper.h>   //include a head file
#include <Keypad.h> // keypad
//SKETH & KEYBOARD

//SKETCH
#define STEPS 2048
Stepper stepper(STEPS, 2, 3, 4, 5);



int previous = 0;

//KEYBOARD

const byte ROWS = 4; // four rows
const byte COLS = 4; // four columns
// define the symbols on the buttons of the keypads
char hexaKeys[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] = {5, 4, 3, 2}; // connect to the column pinouts of the keypad

// initialize an instance of class NewKeypad
Keypad customKeypad = Keypad(makeKeymap(hexaKeys), rowPins, colPins, ROWS, COLS);

//END KEYBOARD

//SENSOR
#define STEPS 2048

class StepperController {
  private:
    Stepper stepper;
    const int trigPin;
    const int echoPin;
    long duration;
    int distance;

    // Private method to set up the stepper and sensor pins
    void privateSetup() {
      stepper.setSpeed(100);
      Serial.begin(9600);
      pinMode(trigPin, OUTPUT);
      pinMode(echoPin, INPUT);
    }

    // Private method to measure the distance using the ultrasonic sensor
    void measureDistance() {
      digitalWrite(trigPin, LOW);
      delayMicroseconds(2);

      digitalWrite(trigPin, HIGH);
      delayMicroseconds(10);
      digitalWrite(trigPin, LOW);

      duration = pulseIn(echoPin, HIGH);
      distance = duration * 0.034 / 2;
    }

    // Private method to control the stepper motor based on the measured distance
    void controlMotor() {
      if (distance <= 0.5) {
        stepper.step(0);  // Stop the motor
        Serial.println("Motor stopped. Object detected within 5mm.");
      } else {
        stepper.step(10);  // Continue running the motor
        Serial.print("Distance: ");
        Serial.print(distance);
        Serial.println(" cm");
      }
      delay(100);  // Delay for stability
    }

  public:
    // Constructor to initialize the stepper and sensor pins
    StepperController(int steps, int pin1, int pin2, int pin3, int pin4, int trig, int echo)
      : stepper(steps, pin1, pin2, pin3, pin4), trigPin(trig), echoPin(echo) {
      duration = 0;
      distance = 0;
    }

    // Public method to set up the stepper and sensor pins
    void setup() {
      privateSetup();
    }

    // Public method to run the main loop
    void loop() {
      measureDistance();
      controlMotor();
    }
};
//END SENSOR 
 
void setup()
{
  // //speed of 180 per minute
  stepper.setSpeed(100);
  Serial.begin(9600);


}
 

void loop()
{
  //get analog value
  int val = analogRead(0);
  //current reading minus the reading of history
  stepper.step(10);  //Turn the motor in val-previous steps
  //store as prevous value
  //Serial.println(val);
  delay(1);
  //previous = val;

//KEYBOARD 
  char customKey = customKeypad.getKey();

  if (customKey)
  {

    Serial.println(customKey);
  }

}

// void loop()
// {
// //SKETCH
// int val = analogRead(0);

// stepper.step(0);
// Serial.print(val);



// }