#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Stepper.h>
#include <Servo.h>  // Include the Servo library

// Define the number of steps per revolution for your stepper motors
const int stepsPerRevolution = 100;

// Initialize the stepper library on pins 8 through 11 for Motor 1
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
// Initialize the stepper library on pins 2 through 5 for Motor 2
Stepper myStepper2(stepsPerRevolution, 2, 3, 4, 5);

// Define I2C LCD address and size
#define LCD_ADDRESS 0x27 // Change if necessary
#define LCD_COLUMNS 16
#define LCD_ROWS 2

// Create an LCD object
LiquidCrystal_I2C lcd(LCD_ADDRESS, LCD_COLUMNS, LCD_ROWS);

// Ultrasonic Sensor Pins
#define TRIG_PIN1 12
#define ECHO_PIN1 13
#define TRIG_PIN2 7
#define ECHO_PIN2 6

// Slide Potentiometer Pin
#define POT_PIN A0

// Servo Motor Pin (using an analog pin as digital)
#define SERVO_PIN A1

// Create a Servo object
Servo valveServo;

// Function to measure distance from ultrasonic sensor
long measureDistance(int trigPin, int echoPin) {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  long duration = pulseIn(echoPin, HIGH);
  long distance = duration * 0.034 / 2;
  return distance;
}

void setup() {
  // Set the speed for the stepper motors
  myStepper.setSpeed(60);
  myStepper2.setSpeed(60);

  // Initialize the serial port
  Serial.begin(9600);

  // Initialize the LCD
  lcd.begin(LCD_COLUMNS, LCD_ROWS); // Initialize with columns and rows
  lcd.backlight(); // Turn on the backlight if available

  // Initialize ultrasonic sensor pins
  pinMode(TRIG_PIN1, OUTPUT);
  pinMode(ECHO_PIN1, INPUT);
  pinMode(TRIG_PIN2, OUTPUT);
  pinMode(ECHO_PIN2, INPUT);

  // Attach the servo to the specified pin
  valveServo.attach(SERVO_PIN);

  // Set initial position of the servo (e.g., closed position)
  valveServo.write(0);  // Adjust angle as needed

  // Display initial message
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("System Ready");
  delay(2000);
}

void loop() {
  // Read the value from the slide potentiometer
  int potValue = analogRead(POT_PIN);

  // Determine the threshold for turning the system on/off
  if (potValue > 512) { // Adjust threshold as needed
    // System is on

    // Measure distances from ultrasonic sensors
    long distance1 = measureDistance(TRIG_PIN1, ECHO_PIN1);
    long distance2 = measureDistance(TRIG_PIN2, ECHO_PIN2);

    if (distance1 < 3) {
       // Open the servo valve
      valveServo.write(0); // Adjust angle for open position
      // Display message for Motor 1
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Filling Grain...");
      
      // Rotate Motor 1
      myStepper.step(stepsPerRevolution);

      // Display message while Motor 1 is running
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Filling Grain...");
      delay(1000); // Adjust delay as needed
    }
  else{

     // Open the servo valve
     
      lcd.print("Valve 1 opening");
      valveServo.write(90); // Adjust angle for open position
  }
    
    if (distance2 < 3) {
      // Display message for Motor 2

      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Grain Detected");
      
      // Rotate Motor 2
      myStepper2.step(-stepsPerRevolution);

      // Display message while Motor 2 is running
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Grain Detected");
      delay(1000); // Adjust delay as needed
      
     
    } else {
      // Clear the display and show waiting message
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Waiting...");
      lcd.setCursor(0, 1);
      lcd.print("                "); // Clear second line

      // Close the servo valve
      valveServo.write(0); // Adjust angle for closed position
    }
  } else {
    // Clear the display and show system off message
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("System Off");
    lcd.setCursor(0, 1);
    lcd.print("                "); // Clear second line


  }

  delay(500);
}