/*
UIC BEI Lab Vertical Camera Slider Code 
Made By: Shaan Mehta 
August 2, 2024
*/

const int rotEnaPin = 12;
const int rotStepPin = 11; 
const int rotDirPin = 10; 

const float pulsesPerMM = 5;                     //Number of motor pulses for 1mm travel
const float pulsesPerDeg = 0.55;                //Number of motor pulses for 1 degree of rotation
unsigned long totalSteps = 0;                     // To keep track of the total steps

void setup() {
  // Sets the two pins as Outputs
  Serial.begin(9600);
  pinMode(rotEnaPin,OUTPUT); 
  pinMode(rotStepPin,OUTPUT); 
  pinMode(rotDirPin,OUTPUT);

  Serial.println("Welcome to the Rotate Mode of the UIC BEI Vertical Camera Slider");
  Serial.println("Made By: Shaan Mehta");
  Serial.println("Do you want to begin? (Y/N)");
  int startTime = millis();
  int duration = 8000;                              // Gives users 8 seconds to type Y or N

  // Wait for user input
  while (true) {
    int pause = millis(); 
    if (pause - startTime >= duration) {
      Serial.println("Took too long to respond");
      stopMotor();
      Serial.println("Stopping Program");
      return; 
    } 
    if (Serial.available()) {
      break; 
    }
  }
}

// Function that runs the rotate operation
void runRotate() {
  Serial.println("Which direction do you want to travel?");
  Serial.println("Enter 1 to go forward or 0 to go reverse:");          // Asks users for which direction
  int direction = inputDirection();                                     // 1 = forward 0 = Reverse
  if (direction == -1) {
    Serial.println("Invalid input. Please try again.");
    return;
  }
  if (direction == 0) {
    Serial.println("Going Reverse");
  }
  if (direction == 1) {
    Serial.println("Going Forward");
  }
  digitalWrite(rotDirPin, direction == 1 ? HIGH : LOW);            // Adjust the direction according to the input
  
  Serial.println("Enter Rotation Angle:");                     // How much distance you want to travel. 
  float value = inputRotData();
  delay(3000);
  Serial.print(value);                               
  Serial.println(" deg");
  float rotP = value * pulsesPerDeg;                           // Calculates how many pulses it will take
  Serial.println("Travel Pulses: ");                          
  Serial.print(rotP);
  Serial.println(" steps");
                                      
  for (int x = 0; x < rotP; x++) {            // Makes the calculated pulses for the specified travel distance
    digitalWrite(rotStepPin, HIGH); 
    delayMicroseconds(1000); 
    digitalWrite(rotStepPin, LOW); 
    delayMicroseconds(1000); 

    Serial.print("Step Count: ");
    Serial.print(x + 1);
    Serial.print(" / " );
    Serial.print(rotP); 
    Serial.print("\n"); 

    totalSteps++;
  }

  Serial.print(totalSteps);                                   // Prints the current total step count
  Serial.println(" Total Step Count");

  stopMotor();
  // delay(10000);                                      // Waits 10 seconds to allow time to take pictures 
}

// Function that determines which direction input did the user type
int inputDirection() {                     
  while (true) {
    if (Serial.available()) {
      char inChar = Serial.read();
      delay(3000);
      if (inChar == '1' || inChar == '0') {
        return inChar - '0';  // Convert char '1' or '0' to int 1 or 0
      } 
    }
  }
}

// Fuction that determines how much distance did the user input and sends the value back
float inputRotData(){     
  delay(500);
  delay(50);  // Small delay to ensure input is processed
  float rotAng = Serial.parseFloat();
  delay(3000);  // Reduced delay
  return rotAng; 
}

// Function that stops the motor 
void stopMotor(){
  digitalWrite(rotStepPin,LOW); 
  delayMicroseconds(500); 
}

// Function that asks the user if they want to run the program once or more than once
void loop() {
  while (true) {
    // Check if data is available on the serial port
    if (Serial.available() > 0) {
      char userInput = Serial.read();  // Reads the incoming data
      delay(2000);
      if (userInput == 'Y' || userInput == 'y') {
        Serial.println("Running Rotate . . .");
        runRotate();
        while (true) {
          Serial.println("Do you want to run the program again? (Y/N)");
          while (Serial.available() == 0) {
            // Wait for user input
          }
          char runAgain = Serial.read();
          if (runAgain == 'Y' || runAgain == 'y') {
            Serial.println("Running the program again...");
            runRotate();
          } else if (runAgain == 'N' || runAgain == 'n') {
            Serial.println("Program terminated.");
            stopMotor();
            return;
          } 
        }
      } else if (userInput == 'N' || userInput == 'n') {
        Serial.println("Program terminated.");
        stopMotor();
        while (true) {
          // Do nothing, effectively stopping the program
        }
        return;
      } 
    }
  }
}