#include <LiquidCrystal.h>
#include <Keypad.h>
#include <AccelStepper.h>

// LCD Pins
const int rs = 8, en = 9, d4 = 4, d5 = 5, d6 = 6, d7 = 7;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);

// Keypad setup
const byte ROWS = 4; // Four rows
const byte COLS = 4; // Four columns
char keys[ROWS][COLS] = {
  {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B'},
  {'7', '8', '9', 'C'},
  {'*', '0', '#', 'D'}
};
byte rowPins[ROWS] = {A0, A1, A2, A3}; // Connect to the row pinouts of the keypad
byte colPins[COLS] = {A4, A5, 10, 11}; // Connect to the column pinouts of the keypad
Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);

// Stepper motor setup
#define DIR_PIN 2
#define STEP_PIN 3
#define ENABLE_PIN 12
AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);

int retractSteps = 500; // Default retract steps
int extendSpeed = 100;  // Default extend speed
int retractSpeed = 100; // Default retract speed

// Button pins
const int button1Pin = 12;
const int button2Pin = 13;

void setup() {
  // Set up the LCD
  lcd.begin(16, 2);
  lcd.print("Stepper Control");

  // Set up the buttons
  pinMode(button1Pin, INPUT_PULLUP);
  pinMode(button2Pin, INPUT_PULLUP);

  // Set up the stepper motor
  pinMode(ENABLE_PIN, OUTPUT);
  digitalWrite(ENABLE_PIN, LOW); // Enable the stepper driver

  stepper.setMaxSpeed(1000);
  stepper.setAcceleration(200);
}

void loop() {
  char key = keypad.getKey();
  if (key) {
    switch (key) {
      case 'A': // Increase retract steps
        retractSteps += 50;
        lcd.clear();
        lcd.print("Retract Steps:");
        lcd.setCursor(0, 1);
        lcd.print(retractSteps);
        break;
      case 'B': // Decrease retract steps
        retractSteps -= 50;
        lcd.clear();
        lcd.print("Retract Steps:");
        lcd.setCursor(0, 1);
        lcd.print(retractSteps);
        break;
      case 'C': // Increase extend speed
        extendSpeed += 50;
        lcd.clear();
        lcd.print("Extend Speed:");
        lcd.setCursor(0, 1);
        lcd.print(extendSpeed);
        break;
      case 'D': // Decrease extend speed
        extendSpeed -= 50;
        lcd.clear();
        lcd.print("Extend Speed:");
        lcd.setCursor(0, 1);
        lcd.print(extendSpeed);
        break;
      case '*': // Increase retract speed
        retractSpeed += 50;
        lcd.clear();
        lcd.print("Retract Speed:");
        lcd.setCursor(0, 1);
        lcd.print(retractSpeed);
        break;
      case '#': // Decrease retract speed
        retractSpeed -= 50;
        lcd.clear();
        lcd.print("Retract Speed:");
        lcd.setCursor(0, 1);
        lcd.print(retractSpeed);
        break;
    }
  }

  // Check button 1 to extend
  if (digitalRead(button1Pin) == LOW) {
    stepper.setMaxSpeed(extendSpeed);
    stepper.moveTo(1000); // or any large number to keep extending
    stepper.run();
  }

  // Check button 2 to retract
  if (digitalRead(button2Pin) == LOW) {
    stepper.setMaxSpeed(retractSpeed);
    stepper.moveTo(-retractSteps);
    stepper.run();
  }
}