//Stepper: Memindahkan sampah dalam rumah ke luar rumah
#include <Stepper.h>

const int stepsPerRevolution = 200; 

Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);

//Servo Atas: Membuka tutup sampah
#include <Servo.h>

Servo myservo;

int pos = 0;  
#define pinServoAtas 2

//Servo Bawah: Membuka jalur pembuangan sampah
Servo myservo2;
#define pinServoBawah 5


//Sensor Ultrasonik: Mengukur jarak tangan ketika akan membuang sampah
float cm;
float inches; 

#define pinTrigAtas 3
#define pinEchoAtas 4

long readUltrasonicDistance(int triggerPin, int echoPin)
{
	pinMode(triggerPin, OUTPUT);  // Clear the trigger
	digitalWrite(triggerPin, LOW);
	delayMicroseconds(2);
	// Sets the trigger pin to HIGH state for 10 microseconds
	digitalWrite(triggerPin, HIGH);
	delayMicroseconds(10);
	digitalWrite(triggerPin, LOW);
	pinMode(echoPin, INPUT);
	// Reads the echo pin, and returns
	// the sound wave travel time in microseconds
	return pulseIn(echoPin, HIGH);
}

//Sensor Berat: Membuang sampah kalau beratnya sudah 3 kg, ini dari chatgpt
#include "HX711.h"
#define DT 6
#define SCK 7

HX711 scale;

float calibration_factor = 420;

//LCD
#include <LiquidCrystal_I2C.h>

#define I2C_ADDR    0x27
#define LCD_COLUMNS 20
#define LCD_LINES   4

LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES);

//LED
#define pinEmpty A3
#define pinFull A2

//Button
#define pinButton 12
bool isButtonActive = false;

void setup() {
  myStepper.setSpeed(60);
  myservo.attach(pinServoAtas);  
  myservo2.attach(pinServoBawah);  
  Serial.begin(9600);

  scale.begin(DT, SCK);
  scale.set_scale(calibration_factor); 
  scale.tare(); //beratnya dibuat ke 0

  lcd.init();
  lcd.backlight();

  pinMode(pinFull, OUTPUT);
  pinMode(pinEmpty, OUTPUT);

  pinMode(pinButton, INPUT_PULLUP);
}

void loop() {

  // delay(500);

  cm = 0.0344/2 * readUltrasonicDistance(pinTrigAtas, pinEchoAtas);
  
  myservo.write(pos);              
  myservo2.write(0);   

  float weight = scale.get_units();
  lcd.setCursor(1, 0);
  lcd.print("Berat:");
  lcd.setCursor(1, 1);
  lcd.print(weight);
  lcd.setCursor(6, 1);
  lcd.print("kg");  

  if(cm < 30) {
    if(pos < 90) {
      for(int x = 0; x < 90; x += 2) {
        myservo.write(pos);              
        delay(15);         
        pos += 2;
      } 
    }
  } else {
    if(pos > 0) {
      for(int x= 90; x > 0; x -= 2) {
        myservo.write(pos);              
        delay(15);         
        pos -= 2;
      }
    }
     else {
      
    }
    if(weight > 3) {
      digitalWrite(pinFull, HIGH);
      digitalWrite(pinEmpty, LOW);
      myservo2.write(90);              
      myStepper.step(-stepsPerRevolution);
      myStepper.step(-stepsPerRevolution);
      myStepper.step(-stepsPerRevolution);
    } else if (weight > 1) {
      digitalWrite(pinFull, HIGH);
      digitalWrite(pinEmpty, LOW);

      isButtonActive = true;

      if (isButtonActive && digitalRead(pinButton) == LOW) {
        myservo2.write(90);              
        myStepper.step(-stepsPerRevolution);
        myStepper.step(-stepsPerRevolution);
        myStepper.step(-stepsPerRevolution);
      }
    } else {
      digitalWrite(pinEmpty, HIGH);
      digitalWrite(pinFull, LOW);
      
      isButtonActive = false;
      myservo2.write(0);                       
    }
  }

  


}