/*
  Project Name:GUI stage_2 ver.1.0.1  arduino IDE contorl interface
  Description:
   Arduino waveform output to control motor motion
   using arduino IDE Serial print plotter to display motor output value. 

   *setting the go up time and holding time more easy to use.
   t1 go up and down 
   t2(holding time)  

   Copyright (CC) 2024, Ryan Lin.
   
   Date:2024/7/5


*/
//================================================================================waveform Table Stage setup====================================




const int sampleNum = 4; //-------------step3
int waveTable[sampleNum]{80, 80, 0, 0};  //-----------------------------step4




//=================================================================================================================================================



//-----------------------------------1
unsigned long previousMillis_WT = 0;

int num = 0;
int num_next = num+1;

float waveTable_output = waveTable[0];
float m = 0;



unsigned int T = 2000;

unsigned int holding_time = 2000; //-----------------------------------------------------step2

unsigned long previousMillis_WT_HT = 0; //hholding time 
unsigned long currentMillis_WT_HT = 0;
//-----------------------------------

// --------------------debug
float  value = 0;
// --------------------

int waveFormTable1();

int waveFormTable( int t1, int t2){

  m = 10*fabs(waveTable[num_next]-waveTable[num])/ t1;
  

  //if next point is same level adding maintenance time 
  if(waveTable[num] == waveTable[num_next]){

      currentMillis_WT_HT = millis();
      if(currentMillis_WT_HT - previousMillis_WT_HT > t2){  //*make sure the new step in the right timing
       
        if(num < (sampleNum - 1)){ //go to next step value
          num += 1;
          if(num_next == (sampleNum -1)){
            num_next = 0;
          }else{num_next = num+1;}
        }else{
          num = 0;
          num_next = num + 1;
        }
        
        previousMillis_WT_HT = currentMillis_WT_HT;
      }

      
  }else if(waveTable[num] > waveTable[num_next] && waveTable[num] != waveTable[num_next] ){ // "!=" function make sure dont go to the next step 
    
    if(waveTable_output <= waveTable[num_next]){

      if(num < (sampleNum -1)){ //go to next step value
        num += 1;
        if(num_next == (sampleNum -1)){
          num_next = 0;
        }else{num_next = num+1;}
      }else{
        num = 0;
        num_next = num + 1;
      }
      
      previousMillis_WT_HT = millis();

    }else{
      unsigned long currentMillis_WT = millis();  
      if(currentMillis_WT - previousMillis_WT >  10){

         if((waveTable_output - m) <= waveTable[num_next]){
          waveTable_output = waveTable[num_next];
        }else{
            if (waveTable_output >= m) {
              waveTable_output -= m;
            } else {
              waveTable_output = 0;  // 避免负值
            }
        }

        previousMillis_WT = currentMillis_WT;
      
      }
    }
    
    

    // previousMillis_WT_HT = millis(); //*make shure the new step in the right timing 

  }else if(waveTable[num] < waveTable[num_next] && waveTable[num] != waveTable[num_next] ){

    if(waveTable_output >= waveTable[num_next]){
      
      if(num < (sampleNum -1)){ //go to next step value
        num += 1;
        if(num_next == (sampleNum -1)){
          num_next = 0;
        }else{num_next = num+1;}
      }else{
        num = 0;
        num_next = num + 1;
      }

      previousMillis_WT_HT = millis();

    }else{
      unsigned long currentMillis_WT = millis();  
      if(currentMillis_WT - previousMillis_WT >  10){
        
        if((waveTable_output + m) > waveTable[num_next]){
          waveTable_output =  waveTable[num_next];
        }else{
           waveTable_output += m;
        }

        previousMillis_WT = currentMillis_WT;
      
      }
    }

  }

  return waveTable_output;
}






void setup() {
  Serial.begin(115200);

}


void loop() {

  

  // int output1 = map(waveFormTable(7, holding_time), 0, 100, 0, 255);
  // Serial.print("output1:");

  Serial.print(waveFormTable(T, holding_time));
// Serial.print(waveFormTable1(T, holding_time));

  Serial.print(",");


  // ----------debug
  Serial.print(m);
  Serial.print(",");
  Serial.print(waveTable[num]);
  Serial.print(",");
  Serial.print(waveTable[num_next]);
  // Serial.print(",");
  // Serial.print(abs(waveTable[num_next]-waveTable[num]));


  // -----------

 
 

  //----------------
  Serial.println(",");

  //----------------

  // float a = 10*fabs(0 - 80)/10000;
  //   value = value += a;
  // if(int c = 10 < value){
  //   Serial.println("P");
  // }

  // delay(100);

  // Serial.print(value);
  // Serial.print(",");

  // // Serial.print(c);
  // // Serial.print(",");

  // Serial.println(a);

  
  
}