#include <Servo.h>
#include <LiquidCrystal_I2C.h>

#define UP                  1   // تذكر تحديد اتجاه الحركة في كل من الموتورين بالنسبة ل stepper direction pin
#define DOWN                0
#define BACKWARD            3
#define FORWARD             2 
#define V                   1
#define H                   0

#define  LimitSwitch1     A0
#define  LimitSwitch2     A1
#define  LimitSwitch3     A2
#define  LimitSwitch4     A3
#define  IR1              A4
#define  IR2              A5

#define flameSensor 2
#define  echoPin          3
#define  trigPin          4
#define  Buzzer           5 
#define  startButton      6
#define  stepperPulseh    7   // relay pin 1  --> Horizontal motor
#define  stepperDirh       8  // relay pin 2 --> Vertical motor
#define  stepperEnh        9
#define  stepperPulsev     10
#define  stepperDirv       11
#define  stepperEnv        12
#define  servoPin          13

void Stepper_ON(int u8MotorDirection,int u8SensorPin,int u8MovementDirection)
{
	int u8SensorValue = digitalRead(u8SensorPin);;
	
	switch(u8MotorDirection)
	{
		case 0:
		digitalWrite(stepperDirv,HIGH);
		break;
		case 1:
		digitalWrite(stepperDirv,LOW);
		case 2:
		digitalWrite(stepperDirh,HIGH);
		break;
		case 3:
		digitalWrite(stepperDirh,LOW);
		break;
	}
	switch(u8MovementDirection)
	{
		case 0:
		digitalWrite(stepperEnh,LOW);
		//Serial.println("before while hor");
		while(u8SensorValue == HIGH)
		{
			//Serial.println("in while hor");
			digitalWrite(stepperPulseh,HIGH);
			delayMicroseconds(150);
			digitalWrite(stepperPulseh,LOW);
			delayMicroseconds(150);
			u8SensorValue = digitalRead(u8SensorPin);
		}
		 //Serial.println("after while hor ");
			digitalWrite(stepperEnh,HIGH);
		break;
		case 1:
		digitalWrite(stepperEnv,LOW);
		//Serial.println("before while ver");
		while(u8SensorValue == HIGH)
		{
			//Serial.println("in while ver");
			digitalWrite(stepperPulsev,HIGH);
			delayMicroseconds(150);
			digitalWrite(stepperPulsev,LOW);
			delayMicroseconds(150);
			u8SensorValue = digitalRead(u8SensorPin);
		}
			//Serial.println("after while ver");
			digitalWrite(stepperEnv,HIGH);
		break;
	}
}


	/*------------------------- Function Definition Of stepper motor to turn it off-----------------------------*/
 
void Stepper_off(int u8MovementDirection)
{
	switch(u8MovementDirection)
	{
	case 0:
	digitalWrite(stepperEnv,HIGH);
	break;
	case 1:
	digitalWrite(stepperEnh,HIGH);
	break;
	}
}

void Park(int u8Pos)
{
	switch(u8Pos)
	{
		case 1:
		Stepper_ON(UP,IR1,V);
		Stepper_ON(FORWARD,LimitSwitch4,H);	
		Stepper_ON(DOWN,LimitSwitch1,V); 	
		Stepper_ON(BACKWARD,LimitSwitch3,H);	
		break;
		
		case 2:
		Stepper_ON(UP,IR2,V);
		Stepper_ON(FORWARD,LimitSwitch4,H);
		Stepper_ON(DOWN,IR1,V);
		Stepper_ON(BACKWARD,LimitSwitch3,H);
		Stepper_ON(DOWN,LimitSwitch1,V);
		break;
		
		case 3:
  	Stepper_ON(UP,LimitSwitch2,V);
		Stepper_ON(FORWARD,LimitSwitch4,H);
		Stepper_ON(DOWN,IR2,V);
		Stepper_ON(BACKWARD,LimitSwitch3,H);
		Stepper_ON(DOWN,LimitSwitch1,V);
		break;
		
		default:
		break;
	}
}

void Take_out(int u8Pos)
{
	switch(u8Pos)
	{
		case 1:
		Stepper_ON(FORWARD,LimitSwitch4,H);
		Stepper_ON(UP,IR1,V);
		Stepper_ON(BACKWARD,LimitSwitch3,H);
		Stepper_ON(DOWN,LimitSwitch1,V);
		break;
	
		case 2:
		Stepper_ON(UP,IR1,V);	
		Stepper_ON(FORWARD,LimitSwitch4,H);
		Stepper_ON(UP,IR2,V);
		Stepper_ON(BACKWARD,LimitSwitch3,H);
		Stepper_ON(DOWN,LimitSwitch1,V);
		break;
		
		case 3:
		Stepper_ON(UP,IR2,V);
		Stepper_ON(FORWARD,LimitSwitch4,H);
		Stepper_ON(UP,LimitSwitch2,V);
		Stepper_ON(BACKWARD,LimitSwitch3,H);
		Stepper_ON(DOWN,LimitSwitch1,V);
		break;
		
		default:
		break;
	}
}

int u8servo;
int u8Pos;
int u8Mode;

long duration;
int distance;
int flag;
char flag1 = 0;
char flag2 = 0;
// Create a Servo object
Servo myServo;
// LCD I2C
#define I2C_ADDR    0x27
#define LCD_COLUMNS 16
#define LCD_LINES   2

LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES);

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
	 // Set up the LCD's number of columns and rows
  lcd.init();
  // Turn on the backlight
  lcd.backlight();
   // Print a message to the LCD
  lcd.setCursor(4, 0);
  lcd.print("Welcome!");
  delay(2000);
	lcd.clear();
  lcd.setCursor(1, 0);
  lcd.print("Parking System");
  pinMode(startButton, INPUT_PULLUP);
  pinMode(stepperPulseh, OUTPUT);
  pinMode(servoPin, OUTPUT);
  pinMode(stepperDirh, OUTPUT);
  pinMode(stepperEnh, OUTPUT);
	pinMode(stepperDirv, OUTPUT);
  pinMode(stepperEnv, OUTPUT);
	pinMode(stepperPulsev, OUTPUT);
  pinMode(LimitSwitch1, INPUT_PULLUP);
	pinMode(LimitSwitch2, INPUT_PULLUP);
	pinMode(LimitSwitch3, INPUT_PULLUP);
	pinMode(LimitSwitch4, INPUT_PULLUP);
	pinMode(IR1, INPUT_PULLUP);
  pinMode(IR2, INPUT_PULLUP);
	pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
	pinMode(Buzzer,OUTPUT);
	myServo.attach(servoPin);
}

void loop() {
  // put your main code here, to run repeatedly:
	u8Mode = 1;
  u8Pos  = 2;
	u8servo = 1;
	if(u8servo == 1 && flag1 == 0)
	{
		myServo.write(0);
		flag1 = 1;
		lcd.clear();
		lcd.setCursor(1, 0);
		lcd.print("Parking System");
		lcd.setCursor(1, 1);
		lcd.print(" Gate Opened ");
		delay(2000);
	}
  int startButtonValue = digitalRead(startButton);
  if(startButtonValue == 0)
  {
		for(int i=0; i<=90; i++)
    {
      myServo.write(i);
    }
	 lcd.clear();
   lcd.setCursor(1, 0);
   lcd.print("Parking System");
	 lcd.setCursor(1, 1);
   lcd.print(" Gate Closed ");
    
    if (u8Mode == 1)
    {
      Park(u8Pos);
    }
    else if (u8Mode == 2)
    {
      Take_out(u8Pos);
    } 
  }
	// UltraSonic sensor
  // Clears the trigPin
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin, HIGH);
  // Calculating the distance
  distance = duration * 0.034 / 2;
  if(distance <= 10 && flag == 0){
    digitalWrite(Buzzer, HIGH);
		//Serial.println("buzzer on");
    flag = 1;
		lcd.clear();
		lcd.setCursor(1, 0);
		lcd.print("Parking System");
		lcd.setCursor(4, 1);
    lcd.print(" Stop !");
    delay(1000);
  }
  else if(distance <= 10 && flag == 1)
  {
    digitalWrite(Buzzer, LOW);
		//Serial.println("buzzer off");
    flag = 0;
    delay(1000);
  }
	else if(flag2 == 0)
	{
	flag2 = 1;
	lcd.clear();
  lcd.setCursor(1, 0);
  lcd.print("Parking System");
	}
}