//#include <Stepper.h>
#include <AccelStepper.h>
#include <Keypad.h>
#include <EEPROM.h>
// #include <LiquidCrystal.h>
#include <LiquidCrystal_I2C.h>

// Alamat EEPROM untuk penyimpanan
const int StepMotorXAddr = 0;
const int StepMotorYAddr = sizeof(int);
const int MaxStepXAddr = 2 * sizeof(int);
const int MaxCountStepYAddr = 3 * sizeof(int);

// // Inisialisasi keypad
// const byte ROWS = 4;
// const byte COLS = 3;
// char keys[ROWS][COLS] = {
//   {'1','2','3'},
//   {'4','5','6'},
//   {'7','8','9'},
//   {'*','0','#'}
// };
// byte rowPins[ROWS] = {PIN_PD0, PIN_PD1, PIN_PD2, PIN_PD3};  // Hubungkan baris keypad ke pin Arduino
// byte colPins[COLS] = {PIN_PC5, PIN_PC4, PIN_PC3};     // Hubungkan kolom keypad ke pin Arduino
// Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);

// Define the keymap and keypad connections
const byte ROWS = 4; // four rows
const byte COLS = 3; // four columns
char keys[ROWS][COLS] = {
  {'1','2','3'},
  {'4','5','6'},
  {'7','8','9'},
  {'*','0','#'}
};
byte rowPins[ROWS] = {12, 11, 10, A3}; 
byte colPins[COLS] = {A2, A1, A0}; 
Keypad keypad = Keypad( makeKeymap(keys), rowPins, colPins, ROWS, COLS );

bool Running = false;

// Parameter Data Inputan
int StepMotorX = 0;
int StepMotorY = 0;
int MaxStepX = 0;
int MaxCountStepY = 0;

// Parameter Process Counting
int GotoStep = 0;
int CountStep = 0;
int CountSensor = 0;

int GobackStep = 0;
int Direction = 0;

// Parameter Display LCD
int x = 0;

// // Inisialisasi LCD
// const int RS = PIN_PB0, EN = PIN_PB1, D4 = PIN_PB2, D5 = PIN_PB3, D6 = PIN_PB4, D7 = PIN_PB5;
// LiquidCrystal lcd(RS, EN, D4, D5, D6, D7);

// Define the connections for the LCD
LiquidCrystal_I2C lcd(0x27,20, 4);

// // Output
// const int Buzzer = PIN_PC0;
// //const int Motor_DC = PIN_PD4;

// Output
const int Buzzer = 13;

// // Input
// const int Sensor = PIN_PC2;

// // Inisialisasi Motor Stepper
// const int StepPin1 = PIN_PD6;      // Pin 1 motor stepper 1 (STEP)
// const int DirPin1 = PIN_PD5;      // Pin 2 motor stepper 1 (DIR)
// const int EnaPin1 = PIN_PD7;      // Pin 3 motor stepper 1 (EN)

// Inisialisasi Motor Stepper 1
const int StepPin1 = 4;      // Pin 1 motor stepper 1 (STEP)
const int DirPin1 = 5;      // Pin 2 motor stepper 1 (DIR)
const int EnaPin1 = 6;      // Pin 3 motor stepper 1 (EN)

// Inisialisasi Motor Stepper 1
const int StepPin2 = 7;      // Pin 1 motor stepper 2 (STEP)
const int DirPin2 = 8;      // Pin 2 motor stepper 2 (DIR)
const int EnaPin2 = 9;      // Pin 3 motor stepper 2 (EN)

// Inisialisasi objek stepper
//Stepper myStepper(EnaPin, StepPin, DirPin);
AccelStepper myStepper1(1, StepPin1, DirPin1); // pin 2 dan 3 untuk step dan direction
AccelStepper myStepper2(1, StepPin2, DirPin2); // pin 2 dan 3 untuk step dan direction

// the 8 arrays that form each segment of the custom numbers
byte LT[8] = 
{
  B00111,
  B01111,
  B11111,
  B11111,
  B11111,
  B11111,
  B11111,
  B11111
};
byte UB[8] =
{
  B11111,
  B11111,
  B11111,
  B00000,
  B00000,
  B00000,
  B00000,
  B00000
};
byte RT[8] =
{
  B11100,
  B11110,
  B11111,
  B11111,
  B11111,
  B11111,
  B11111,
  B11111
};
byte LL[8] =
{
  B11111,
  B11111,
  B11111,
  B11111,
  B11111,
  B11111,
  B01111,
  B00111
};
byte LB[8] =
{
  B00000,
  B00000,
  B00000,
  B00000,
  B00000,
  B11111,
  B11111,
  B11111
};
byte LR[8] =
{
  B11111,
  B11111,
  B11111,
  B11111,
  B11111,
  B11111,
  B11110,
  B11100
};
byte UMB[8] =
{
  B11111,
  B11111,
  B11111,
  B00000,
  B00000,
  B00000,
  B11111,
  B11111
};
byte LMB[8] =
{
  B11111,
  B00000,
  B00000,
  B00000,
  B00000,
  B11111,
  B11111,
  B11111
};

void setup() {
  // put your setup code here, to run once:

  // Set pin-ping sebagai output
  pinMode(EnaPin1, OUTPUT);
  pinMode(DirPin1, OUTPUT);
  pinMode(StepPin1, OUTPUT);
  pinMode(EnaPin2, OUTPUT);
  pinMode(DirPin2, OUTPUT);
  pinMode(StepPin2, OUTPUT);
  pinMode(Buzzer, OUTPUT);
//  pinMode(Motor_DC, OUTPUT);
  // pinMode(Sensor, INPUT);
  
  // Aktifkan driver motor
  digitalWrite(EnaPin1, HIGH);
  digitalWrite(EnaPin2, HIGH);

  // // Start LCD Display
  // lcd.begin(20, 4);   // initialize the lcd
  
  // Start LCD Display
  lcd.init();
  lcd.backlight();

  // assignes each segment a write number
  lcd.createChar(8,LT);
  lcd.createChar(1,UB);
  lcd.createChar(2,RT);
  lcd.createChar(3,LL);
  lcd.createChar(4,LB);
  lcd.createChar(5,LR);
  lcd.createChar(6,UMB);
  lcd.createChar(7,LMB);

  EEPROM.get(StepMotorXAddr, StepMotorX);
  delay(10);
  EEPROM.get(StepMotorYAddr, StepMotorY);
  delay(10);
  EEPROM.get(MaxStepXAddr, MaxStepX);
  delay(10);
  EEPROM.get(MaxCountStepYAddr, MaxCountStepY);
  delay(10);

  lcd.setCursor(4,1);
  lcd.print("COIL WINDING");
  lcd.setCursor(6,2);
  lcd.print("MACHINE!");
  delay(500);
  lcd.clear();

  digitalWrite(Buzzer, HIGH);
  delay(100);
  digitalWrite(Buzzer, LOW);
  delay(10);
  digitalWrite(Buzzer, HIGH);
  delay(100);
  digitalWrite(Buzzer, LOW);
  delay(10);
  digitalWrite(Buzzer, HIGH);
  delay(100);
  digitalWrite(Buzzer, LOW);

  myStepper1.setMaxSpeed(1000); // Set kecepatan maksimum motor stepper
  myStepper1.setAcceleration(500); // Set akselerasi motor stepper
  myStepper2.setMaxSpeed(1000); // Set kecepatan maksimum motor stepper
  myStepper2.setAcceleration(500); // Set akselerasi motor stepper

  // // Set stepper motors step counter to zero
  // myStepper1.setCurrentPosition(0);
  // myStepper2.setCurrentPosition(0);

  x = 0;
  letters1();
  x = 8;
  letters2();
  delay (1000);
  lcd.clear();

  DisplayAwal();

  if (MaxStepX > 0) {
      lcd.setCursor(6,1);
      lcd.print(StepMotorY);
      // lcd.setCursor(6,1);
      // lcd.print(CountStep);
      lcd.setCursor(15,1);
      lcd.print(StepMotorX);
      lcd.setCursor(6,2);
      lcd.print(GotoStep);
      lcd.setCursor(15,2);
      lcd.print(MaxStepX);
      lcd.setCursor(6,3);
      lcd.print(CountSensor);
      lcd.setCursor(15,3);
      lcd.print(MaxCountStepY);
  } else {
      // Get inputs from user
      lcd.setCursor(15,1);
      StepMotorX = getStepMotorX();
      EEPROM.put(StepMotorXAddr, StepMotorX);
      delay(10);
      lcd.setCursor(6,1);
      StepMotorY = getStepMotorY();
      EEPROM.put(StepMotorYAddr, StepMotorY);
      delay(10);
      lcd.setCursor(15,2);
      MaxStepX = getMaxStepX();
      EEPROM.put(MaxStepXAddr, MaxStepX);
      delay(10);
      lcd.setCursor(15,1);
      lcd.print(StepMotorX);
      lcd.setCursor(6,1);
      lcd.print(StepMotorY);
      lcd.setCursor(15,2);
      lcd.print(MaxStepX);
      lcd.setCursor(15,3);
      MaxCountStepY = getMaxCountStepY();
      EEPROM.put(MaxCountStepYAddr, MaxCountStepY);
      delay(10);
      lcd.setCursor(15,0);
      lcd.print("     ");
      lcd.setCursor(15,0);
      lcd.print("READY");
  }
}

void loop() {
  // put your main code here, to run repeatedly:
  char Key = keypad.getKey();
  if (Key == '#') {
      digitalWrite(Buzzer, HIGH);
      delay(100);
      digitalWrite(Buzzer, LOW);
      GotoStep = 0;
      GobackStep = 0;
      CountStep = 0;
      CountSensor = 0;
      Running = true;
      DisplayRUN();
  }

  if (Key == '*') {
      digitalWrite(Buzzer, HIGH);
      delay(100);
      digitalWrite(Buzzer, LOW);
      resetMachine();
  }

  if (Running) {
//      digitalWrite(Motor_DC, HIGH);

      digitalWrite(EnaPin1, LOW);
      digitalWrite(EnaPin2, LOW);
      // digitalWrite(DirPin2, HIGH); // Set direction

      myStepper2.moveTo(StepMotorY); // Tentukan jumlah langkah yang diinginkan, misalnya 800
      myStepper2.runToPosition(); // Menjalankan motor stepper ke posisi yang ditentukan


//    int SensorState = digitalRead(Sensor);
      int SensorState = StepMotorY;
      if (SensorState == StepMotorY) {
          CountSensor++;

          lcd.setCursor(6,3);
          lcd.print("     ");
          lcd.setCursor(6,3);
          lcd.print(CountSensor);
          
          // Cek apakah counter mencapai Maksimal Limit CountSensor
          if (CountSensor < MaxCountStepY) {
            // Cek apakah counter mencapai Maksimal Limit CountSensor
            if (GotoStep < MaxStepX) {
              Direction = 1;
              if ((MaxStepX-GotoStep) >= StepMotorX) {
//                 digitalWrite(EnaPin1, LOW);
                 // Rotate the motor in one direction
//                 digitalWrite(DirPin1, HIGH); // Set direction
//                 StepperMotor(StepMotor); // Perform steps
                 myStepper1.moveTo(StepMotorX); // Tentukan jumlah langkah yang diinginkan, misalnya 800
                 myStepper1.runToPosition(); // Menjalankan motor stepper ke posisi yang ditentukan
                 // delay(1000); // Wait for a second
                 GotoStep += StepMotorX;
//                 digitalWrite(EnaPin1, HIGH);
              }
              else if ((MaxStepX-GotoStep) < StepMotorX) {
//                 digitalWrite(EnaPin1, LOW);
                 // Rotate the motor in one direction
//                 digitalWrite(DirPin1, HIGH); // Set direction
//                 StepperMotor(MaxStep-GotoStep); // Perform steps
                 myStepper1.moveTo(MaxStepX-GotoStep); // Tentukan jumlah langkah yang diinginkan, misalnya 800
                 myStepper1.runToPosition(); // Menjalankan motor stepper ke posisi yang ditentukan
                 // delay(1000); // Wait for a second
                 GotoStep += (MaxStepX-GotoStep);
//                 digitalWrite(EnaPin1, HIGH);
              }
              
              if (GotoStep == MaxStepX) {
                 GobackStep = 0;
              }

              lcd.setCursor(6,1);
              lcd.print("     ");
              lcd.setCursor(6,1);
              lcd.print("RIGHT");
              lcd.setCursor(6,2);
              lcd.print("     ");
              lcd.setCursor(6,2);
              lcd.print(GotoStep);
            }
            else if (GotoStep >= MaxStepX) {
              Direction = 0;
              if ((MaxStepX-GobackStep) >= StepMotorX) {
//                 digitalWrite(EnaPin1, LOW);
                 // Rotate the motor in one direction
//                 digitalWrite(DirPin1, LOW); // Set direction
//                 StepperMotor(StepMotor); // Perform steps
                 myStepper1.moveTo(-StepMotorX); // Tentukan jumlah langkah yang diinginkan, misalnya 800
                 myStepper1.runToPosition(); // Menjalankan motor stepper ke posisi yang ditentukan
                 // delay(1000); // Wait for a second
                 GobackStep += StepMotorX;
//                 digitalWrite(EnaPin1, HIGH);
              }
              else if ((MaxStepX-GobackStep) < StepMotorX) {
//                 digitalWrite(EnaPin1, LOW);
                 // Rotate the motor in one direction
//                 digitalWrite(DirPin1, LOW); // Set direction
//                 StepperMotor(MaxStep-GobackStep); // Perform steps
                 myStepper1.moveTo(-(MaxStepX-GobackStep)); // Tentukan jumlah langkah yang diinginkan, misalnya 800
                 myStepper1.runToPosition(); // Menjalankan motor stepper ke posisi yang ditentukan
                 // delay(1000); // Wait for a second
                 GobackStep += (MaxStepX-GobackStep);
//                 digitalWrite(EnaPin1, HIGH);
              }
              
              if (GobackStep == MaxStepX) {
                 GotoStep = 0;
              }
              
              lcd.setCursor(6,1);
              lcd.print("     ");
              lcd.setCursor(6,1);
              lcd.print("LEFT");
              lcd.setCursor(6,2);
              lcd.print("     ");
              lcd.setCursor(6,2);
              lcd.print(GobackStep);
            }
//            lcd.setCursor(6,1);
//            lcd.print("     ");
//            lcd.setCursor(6,1);
//            lcd.print(CountStep);
          }
          else if (CountSensor >= MaxCountStepY) {
//              digitalWrite(Motor_DC, LOW);
              // digitalWrite(EnaPin2, LOW);

              digitalWrite(EnaPin2, HIGH);
              delay (2000);

              if (Direction > 0) {
                 lcd.setCursor(6,1);
                 lcd.print("     ");
                 lcd.setCursor(6,1);
                 lcd.print("BACK");
                 lcd.setCursor(6,2);
                 lcd.print("     ");
                 lcd.setCursor(6,2);
                 lcd.print(GotoStep);
//                 digitalWrite(EnaPin1, LOW);
                 // Rotate the motor in one direction
//                 digitalWrite(DirPin1, LOW); // Set direction
//                 StepperMotor(GotoStep); // Perform steps
                 myStepper1.moveTo(GotoStep); // Tentukan jumlah langkah yang diinginkan, misalnya 800
                 myStepper1.runToPosition(); // Menjalankan motor stepper ke posisi yang ditentukan
                //  digitalWrite(EnaPin1, LOW);

                 digitalWrite(EnaPin1, HIGH);
                 delay(1000);

                 digitalWrite(Buzzer, HIGH);
                 delay(100);
                 digitalWrite(Buzzer, LOW);
                 delay(10);
                 digitalWrite(Buzzer, HIGH);
                 delay(100);
                 digitalWrite(Buzzer, LOW);
                 delay(10);
                 digitalWrite(Buzzer, HIGH);
                 delay(100);
                 digitalWrite(Buzzer, LOW);
                 lcd.setCursor(6,0);
                 lcd.print("     ");
                 lcd.setCursor(6,0);
                 lcd.print("STOP");
                 lcd.setCursor(15,0);
                 lcd.print("     ");
                 lcd.setCursor(15,0);
                 lcd.print("DONE");
//                 Running = false;
              } else {
//                 GobackStep += CountStep;
                 lcd.setCursor(6,1);
                 lcd.print("     ");
                 lcd.setCursor(6,1);
                 lcd.print("BACK");
                 lcd.setCursor(6,2);
                 lcd.print("     ");
                 lcd.setCursor(6,2);
                 lcd.print(GobackStep);
//                 digitalWrite(EnaPin, LOW);
                 // Rotate the motor in one direction
//                 digitalWrite(DirPin, LOW); // Set direction
//                 StepperMotor(MaxStep-GobackStep); // Perform steps
                 myStepper1.moveTo(MaxStepX-GobackStep); // Tentukan jumlah langkah yang diinginkan, misalnya 800
                 myStepper1.runToPosition(); // Menjalankan motor stepper ke posisi yang ditentukan
                //  digitalWrite(EnaPin, LOW);
                 
                 digitalWrite(EnaPin1, HIGH);
                 delay(1000);

                 digitalWrite(Buzzer, HIGH);
                 delay(100);
                 digitalWrite(Buzzer, LOW);
                 delay(10);
                 digitalWrite(Buzzer, HIGH);
                 delay(100);
                 digitalWrite(Buzzer, LOW);
                 delay(10);
                 digitalWrite(Buzzer, HIGH);
                 delay(100);
                 digitalWrite(Buzzer, LOW);
                 lcd.setCursor(6,0);
                 lcd.print("     ");
                 lcd.setCursor(6,0);
                 lcd.print("STOP");
                 lcd.setCursor(15,0);
                 lcd.print("     ");
                 lcd.setCursor(15,0);
                 lcd.print("DONE");
//                 Running = false;
              }
              Running = false;
          }    
          // while(digitalRead(Sensor) == HIGH);
          // delay(10); // Debounce sensor
      }
  } 
}


void DisplayAwal() {
  lcd.setCursor(6,0);
  lcd.print("MODE");
  lcd.setCursor(15,0);
  lcd.print("INPUT");
  lcd.setCursor(0,1);
  lcd.print("STEP: ");
  lcd.setCursor(6,1);
  lcd.print(StepMotorY);
  // lcd.setCursor(6,1);
  // lcd.print(CountStep);
  lcd.setCursor(12,1);
  lcd.print("|| ");
  lcd.setCursor(15,1);
  lcd.print(StepMotorX);
  lcd.setCursor(0,2);
  lcd.print("SIZE: ");
  lcd.setCursor(6,2);
  lcd.print(GotoStep);
  lcd.setCursor(12,2);
  lcd.print("|| ");
  lcd.setCursor(15,2);
  lcd.print(MaxStepX);
  lcd.setCursor(0,3);
  lcd.print("TURN: ");
  lcd.setCursor(6,3);
  lcd.print(CountSensor);
  lcd.setCursor(12,3);
  lcd.print("|| ");
  lcd.setCursor(15,3);
  lcd.print(MaxCountStepY);
}

void DisplayRUN() {
  lcd.setCursor(6,0);
  lcd.print("     ");
  lcd.setCursor(6,0);
  lcd.print("RUN");
  lcd.setCursor(15,0);
  lcd.print("     ");
  lcd.setCursor(15,0);
  lcd.print("MOTOR");
  lcd.setCursor(6,1);
  lcd.print("     ");
  lcd.setCursor(6,1);
  lcd.print(StepMotorY);
  // lcd.setCursor(6,1);
  // lcd.print(CountStep);
  lcd.setCursor(6,2);
  lcd.print("     ");
  lcd.setCursor(6,2);
  lcd.print(GotoStep);
  lcd.setCursor(6,3);
  lcd.print("     ");
  lcd.setCursor(6,3);
  lcd.print(CountSensor);
}

// Function to get integer input from keypad
int getStepMotorX() {    
  StepMotorX = 0;
  char Key;
  int CursorPosition = 15; // Manually track the cursor position
  lcd.setCursor(15, 1); // Set cursor to second line
  lcd.blink();
  do {
    Key = keypad.getKey();
    if (Key >= '0' && Key <= '9') {
      StepMotorX = StepMotorX * 10 + (Key - '0');
      lcd.print(Key);
      digitalWrite(Buzzer, HIGH);
      delay(100);
      digitalWrite(Buzzer, LOW);
      CursorPosition++;
    } else if (Key == '*' && CursorPosition > 15) {
      lcd.setCursor(CursorPosition - 1, 1);
      lcd.print(" ");  // Overwrite the last digit with a space
      lcd.setCursor(CursorPosition - 1, 1);
      StepMotorX /= 10;  // Remove the last digit
      digitalWrite(Buzzer, HIGH);
      delay(100);
      digitalWrite(Buzzer, LOW);
      CursorPosition--;
    }
  } while (Key != '#');
  lcd.noBlink();
  digitalWrite(Buzzer, HIGH);
  delay(100);
  digitalWrite(Buzzer, LOW);
  return StepMotorX;
}

// Function to get integer input from keypad
int getStepMotorY() {    
  StepMotorY = 0;
  char Key;
  int CursorPosition = 6; // Manually track the cursor position
  lcd.setCursor(6, 1); // Set cursor to second line
  lcd.blink();
  do {
    Key = keypad.getKey();
    if (Key >= '0' && Key <= '9') {
      StepMotorY = StepMotorY * 10 + (Key - '0');
      lcd.print(Key);
      digitalWrite(Buzzer, HIGH);
      delay(100);
      digitalWrite(Buzzer, LOW);
      CursorPosition++;
    } else if (Key == '*' && CursorPosition > 6) {
      lcd.setCursor(CursorPosition - 1, 1);
      lcd.print(" ");  // Overwrite the last digit with a space
      lcd.setCursor(CursorPosition - 1, 1);
      StepMotorY /= 10;  // Remove the last digit
      digitalWrite(Buzzer, HIGH);
      delay(100);
      digitalWrite(Buzzer, LOW);
      CursorPosition--;
    }
  } while (Key != '#');
  lcd.noBlink();
  digitalWrite(Buzzer, HIGH);
  delay(100);
  digitalWrite(Buzzer, LOW);
  return StepMotorY;
}

// Function to get integer input from keypad
int getMaxStepX() {    
  MaxStepX = 0;
  char Key;
  int CursorPosition = 15; // Manually track the cursor position
  lcd.setCursor(15, 2); // Set cursor to second line
  lcd.blink();
  do {
    Key = keypad.getKey();
    if (Key >= '0' && Key <= '9') {
      MaxStepX = MaxStepX * 10 + (Key - '0');
      lcd.print(Key);
      digitalWrite(Buzzer, HIGH);
      delay(100);
      digitalWrite(Buzzer, LOW);
      CursorPosition++;
    } else if (Key == '*' && CursorPosition > 15) {
      lcd.setCursor(CursorPosition - 1, 2);
      lcd.print(" ");  // Overwrite the last digit with a space
      lcd.setCursor(CursorPosition - 1, 2);
      MaxStepX /= 10;  // Remove the last digit
      digitalWrite(Buzzer, HIGH);
      delay(100);
      digitalWrite(Buzzer, LOW);
      CursorPosition--;
    }
  } while (Key != '#');
  lcd.noBlink();
  digitalWrite(Buzzer, HIGH);
  delay(100);
  digitalWrite(Buzzer, LOW);
  return MaxStepX;
}

// Function to get integer input from keypad
int getMaxCountStepY() {    
  MaxCountStepY = 0;
  char Key;
  int CursorPosition = 15; // Manually track the cursor position
  lcd.setCursor(15, 3); // Set cursor to second line
  lcd.blink();
  do {
    Key = keypad.getKey();
    if (Key >= '0' && Key <= '9') {
      MaxCountStepY = MaxCountStepY * 10 + (Key - '0');
      lcd.print(Key);
      digitalWrite(Buzzer, HIGH);
      delay(100);
      digitalWrite(Buzzer, LOW);
      CursorPosition++;
    } else if (Key == '*' && CursorPosition > 15) {
      lcd.setCursor(CursorPosition - 1, 3);
      lcd.print(" ");  // Overwrite the last digit with a space
      lcd.setCursor(CursorPosition - 1, 3);
      MaxCountStepY /= 10;  // Remove the last digit
      digitalWrite(Buzzer, HIGH);
      delay(100);
      digitalWrite(Buzzer, LOW);
      CursorPosition--;
    }    
  } while (Key != '#');
  lcd.noBlink();
  digitalWrite(Buzzer, HIGH);
  delay(100);
  digitalWrite(Buzzer, LOW);
  return MaxCountStepY;
}

// Functions to reset the machine
void(* resetFunc) (void) = 0; // create a standard reset function

void resetMachine() {
  Running = false;
  lcd.clear();
   EEPROM.put(StepMotorXAddr, 0);
   delay(10);
   EEPROM.put(StepMotorYAddr, 0);
   delay(10);
   EEPROM.put(MaxStepXAddr, 0);
   delay(10);
   EEPROM.put(MaxCountStepYAddr, 0);
   delay(10);
  lcd.setCursor(2, 1);
  lcd.print("   RESETTING...  ");
  delay(1000);
  lcd.clear();
  resetFunc(); // reset the Arduino via Software
}

//// Function to perform a given number of steps
//void StepperMotor(int Steps) {
//  for (int i = 0; i < Steps; i++) {
//    digitalWrite(StepPin, HIGH);
//    delayMicroseconds(400); // Adjust delay to control speed
//    digitalWrite(StepPin, LOW);
//    delayMicroseconds(400); // Adjust delay to control speed
//    CountStep = i+1;
//  }
//}

void customD()
{
  lcd.setCursor(x, 0); 
  lcd.write(255);  
  lcd.write(1); 
  lcd.write(2);
  lcd.setCursor(x, 1); 
  lcd.write(255);  
  lcd.write(4);  
  lcd.write(5);
}

void customE()
{
  lcd.setCursor(x,0);
  lcd.write(255);
  lcd.write(6);
  lcd.write(6);
  lcd.setCursor(x, 1);
  lcd.write(255);
  lcd.write(7);
  lcd.write(7); 
}

void customP()
{
  lcd.setCursor(x,0);
  lcd.write(255);
  lcd.write(6);
  lcd.write(2);
  lcd.setCursor(x,1);
  lcd.write(255);
}

void custom0O()
{ // uses segments to build the number 0
  lcd.setCursor(x,0); 
  lcd.write(8);  
  lcd.write(1); 
  lcd.write(2);
  lcd.setCursor(x,1); 
  lcd.write(3);  
  lcd.write(4);  
  lcd.write(5);
}

void customT()
{
  lcd.setCursor(x,2);
  lcd.write(1);
  lcd.write(255);
  lcd.write(1);
  lcd.setCursor(x,3);
  lcd.write(254);
  lcd.write(255);
}

void customE1()
{
  lcd.setCursor(x,2);
  lcd.write(255);
  lcd.write(6);
  lcd.write(6);
  lcd.setCursor(x,3);
  lcd.write(255);
  lcd.write(7);
  lcd.write(7); 
}

void customC()
{
  lcd.setCursor(x,2);
  lcd.write(8);
  lcd.write(1);
  lcd.write(1);
  lcd.setCursor(x,3);
  lcd.write(3);
  lcd.write(4);
  lcd.write(4);
}

void customH()
{
  lcd.setCursor(x,2);
  lcd.write(255);
  lcd.write(4);
  lcd.write(255);
  lcd.setCursor(x, 3);
  lcd.write(255);
  lcd.write(254);
  lcd.write(255); 
}

void letters1()
{
  customD();
  x = x + 3;
  customE();
  x = x + 3;
  customP();
  x = x + 3;
  custom0O();
  // delay(500);
}

void letters2()
{
  customT();
  x = x + 3;
  customE1();
  x = x + 3;
  customC();
  x = x + 3;
  customH();
  // delay(500);
}