const int stepPin = 2;
const int dirPin = 3;
const int increment = 4;
const int decrement = 5;
const int sincrement = 6;
const int sdecrement = 7;
const int led = 13;
const int pot = A0;

int mode = 1;
int x = 1, z = 0, speed = 0, level = 0, potv;

float y;

#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 16, 2);

bool inc, dec, sinc, sdec, latch = LOW;
void setup() {

  lcd.init();

  lcd.backlight();
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("  Potentiometer  ");
  lcd.setCursor(0, 1);
  lcd.print("Position Control ");

  delay(3000);  // Sets the two pins as Outputs
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(increment, INPUT_PULLUP);
  pinMode(decrement, INPUT_PULLUP);
  pinMode(sincrement, INPUT_PULLUP);
  pinMode(sdecrement, INPUT_PULLUP);

  for (int i = 0; i < 5; i++) {
    digitalWrite(led, HIGH);
    delay(500);
    digitalWrite(led, LOW);
    delay(500);
  }

  inc = digitalRead(increment);
  dec = digitalRead(decrement);

  while (inc == LOW) {

    if (mode == 4) { mode = 0; }
    mode = mode + 1;
    if (mode == 1) {
      lcd.setCursor(0, 0);
      lcd.print("Mode-1           ");
    }
    if (mode == 2) {
      lcd.setCursor(0, 0);
      lcd.print("Mode-2           ");
    }
    if (mode == 3) {
      lcd.setCursor(0, 0);
      lcd.print("Mode-3           ");
    }
    delay(1000);
    inc = digitalRead(increment);
  }
}
void loop() {
  //Mode-1 Free rotation right/left
  if (mode == 1) {
    inc = digitalRead(increment);
    dec = digitalRead(decrement);
    sinc = digitalRead(sincrement);
    sdec = digitalRead(sdecrement);

    if (inc == LOW && latch == LOW) {
      delay(300);
      speed = 1;
      latch = HIGH;
      inc = HIGH;
    }  //Fast forward
    if (inc == LOW && latch == HIGH) {
      delay(300);
      speed = 0;
      latch = LOW;
      inc = HIGH;
    }  //Stop
    if (dec == LOW && latch == LOW) {
      delay(300);
      speed = 2;
      latch = HIGH;
      dec = HIGH;
    }  //Fast reverse
    if (dec == LOW && latch == HIGH) {
      delay(300);
      speed = 0;
      latch = LOW;
      dec = HIGH;
    }  //STOP
    if (sinc == LOW && latch == LOW) {
      delay(300);
      speed = 3;
      latch = HIGH;
      sinc = HIGH;
    }  //Slow forward
    if (sinc == LOW && latch == HIGH) {
      delay(300);
      speed = 0;
      latch = LOW;
      sinc = HIGH;
    }  //Stop
    if (sdec == LOW && latch == LOW) {
      delay(300);
      speed = 4;
      latch = HIGH;
      sdec = HIGH;
    }  //Slow reverse
    if (sdec == LOW && latch == HIGH) {
      delay(300);
      speed = 0;
      latch = LOW;
      sdec = HIGH;
    }  //STOP
  }




  while (speed == 1 && x < 2000)  //Fast forward
  {
    lcd.setCursor(0, 0);
    lcd.print("Mode-1: Fwd:Fast");
    lcd.setCursor(0, 1);
    lcd.print("Pos:             ");
    x++;
    y = x / 200.0;
    digitalWrite(dirPin, HIGH);
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(1);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(1);
    lcd.setCursor(4, 1);
    lcd.print(x);
    lcd.setCursor(10, 1);
    lcd.print(y);

    if (x == 2000) {
      speed = 0;
    }
    readswitch();
  }


  while (speed == 3 && x < 2000)  //Slow forward
  {
    lcd.setCursor(0, 0);
    lcd.print("Mode-1: Fwd:Slow");
    lcd.setCursor(0, 1);
    lcd.print("Pos:             ");
    x++;
    y = x / 200.0;
    digitalWrite(dirPin, HIGH);
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(10);
    lcd.setCursor(4, 1);
    lcd.print(x);
    lcd.setCursor(10, 1);
    lcd.print(y);

    if (x == 2000) {
      speed = 0;
    }
    readswitch();
  }

  while (speed == 2 && x > 0)  //Fast reverse
  {
    lcd.setCursor(0, 0);
    lcd.print("Mode-1: Rev:Fast");
    lcd.setCursor(0, 1);
    lcd.print("Pos:             ");
    x--;
    y = x / 200.0;
    digitalWrite(dirPin, LOW);
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(1);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(1);
    lcd.setCursor(4, 1);
    lcd.print(x);
    lcd.setCursor(10, 1);
    lcd.print(y);

    if (x == 1) {
      speed = 0;
    }
    readswitch();
  }


  while (speed == 4 && x > 0)  //Slow reverse
  {
    lcd.setCursor(0, 0);
    lcd.print("Mode-1: Rev:Slow");
    lcd.setCursor(0, 1);
    lcd.print("Pos:             ");
    x--;
    y = x / 200.0;
    digitalWrite(dirPin, LOW);
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(10);
    lcd.setCursor(4, 1);
    lcd.print(x);
    lcd.setCursor(10, 1);
    lcd.print(y);

    if (x == 1) {
      speed = 0;
    }
    readswitch();
  }

  //Mode-2 Predefined rotation right/left

  if (mode == 2) {
    inc = digitalRead(increment);
    dec = digitalRead(decrement);
    sinc = digitalRead(sincrement);
    sdec = digitalRead(sdecrement);

    if (inc == LOW && latch == LOW) {
      delay(300);
      speed = 5;
      latch = HIGH;
      inc = HIGH;
    }  //Fast forward
    if (inc == LOW && latch == HIGH) {
      delay(300);
      speed = 0;
      latch = LOW;
      inc = HIGH;
    }  //Stop
    if (dec == LOW && latch == LOW) {
      delay(300);
      speed = 6;
      latch = HIGH;
      dec = HIGH;
    }  //Fast reverse
    if (dec == LOW && latch == HIGH) {
      delay(300);
      speed = 0;
      latch = LOW;
      dec = HIGH;
    }  //STOP
    
  }

  while (speed == 5 && x < z)  //Preset forward
  {
    lcd.setCursor(0, 0);
    lcd.print("Mode-2: Fwd:    ");
    lcd.setCursor(11, 0);
    lcd.print(z);
    lcd.setCursor(0, 1);
    lcd.print("Pos:             ");
    x++;
    y = x / 200.0;
    digitalWrite(dirPin, HIGH);
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(1);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(1);
    lcd.setCursor(4, 1);
    lcd.print(x);
    lcd.setCursor(10, 1);
    lcd.print(y);

    if (x == z) {
      speed = 0;
    }
    readswitch1();
  }


  while (speed == 6 && x >0)  //Preset reverse
  {
    lcd.setCursor(0, 0);
    lcd.print("Mode-2: Rev:    ");
    lcd.setCursor(11, 0);
    lcd.print(z);
    lcd.setCursor(0, 1);
    lcd.print("Pos:             ");
    x--;
    y = x / 200.0;
    digitalWrite(dirPin, LOW);
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(10);
    lcd.setCursor(4, 1);
    lcd.print(x);
    lcd.setCursor(10, 1);
    lcd.print(y);

    if (x == 1) {
      speed = 0;
    }
    readswitch1();
  }

  while (speed == 2 && x > 0)  //Fast reverse
  {
    lcd.setCursor(0, 0);
    lcd.print("Mode-2: Rev:    ");
    lcd.setCursor(11, 0);
    lcd.print(z);
    lcd.setCursor(0, 1);
    lcd.print("Pos:             ");
    x--;
    y = x / 200.0;
   digitalWrite(dirPin, LOW);
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(1);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(1);
    lcd.setCursor(4, 1);
    lcd.print(x);
    lcd.setCursor(10, 1);
    lcd.print(y);

    if (x == 1) {
      speed = 0;
    }
    readswitch();
  }


  while (speed == 4 && x > 0)  //Slow reverse
  {
    lcd.setCursor(0, 0);
    lcd.print("Mode-2: Rev:    ");
    lcd.setCursor(11, 0);
    lcd.print(z);
    lcd.setCursor(0, 1);
    lcd.print("Pos:             ");
    x--;
    y = x / 200.0;
    digitalWrite(dirPin, LOW);
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(10);
    lcd.setCursor(4, 1);
    lcd.print(x);
    lcd.setCursor(10, 1);
    lcd.print(y);

    if (x == 1) {
      speed = 0;
    }
    readswitch();
  }
  // Mode 3 - Potentiometer setting
  if (mode == 3) {
    potv = analogRead(pot);
    potv = map(potv, 0, 1023, 0, 2000);

    lcd.setCursor(0, 0);
    lcd.print(" Mode-3:  Pot Set ");
    lcd.setCursor(0, 1);
    lcd.print("Turns:             ");
    lcd.setCursor(6, 1);
    lcd.print(potv);
 
    sinc = digitalRead(sincrement);
    if (sinc == LOW) {
      delay(300);
      mode = 2;
      z = potv;
lcd.setCursor(0, 0);
    lcd.print(" Mode-2:  Pot    ");
    lcd.setCursor(0, 1);
    lcd.print("                ");
    lcd.setCursor(11, 0);
    lcd.print(potv);
    }else{   delay(500);}
  }
}

void readswitch() {
  inc = digitalRead(increment);
  dec = digitalRead(decrement);
  sinc = digitalRead(sincrement);
  sdec = digitalRead(sdecrement);

  if (inc == LOW && latch == LOW) {
    delay(300);
    speed = 1;
    latch = HIGH;
    inc = HIGH;
  }  //Fast forward
  if (inc == LOW && latch == HIGH) {
    delay(300);
    speed = 0;
    latch = LOW;
    inc = HIGH;
  }  //Stop
  if (dec == LOW && latch == LOW) {
    delay(300);
    speed = 2;
    latch = HIGH;
    dec = HIGH;
  }  //Fast reverse
  if (dec == LOW && latch == HIGH) {
    delay(300);
    speed = 0;
    latch = LOW;
    dec = HIGH;
  }  //STOP
  if (sinc == LOW && latch == LOW) {
    delay(300);
    speed = 3;
    latch = HIGH;
    sinc = HIGH;
  }  //Slow forward
  if (sinc == LOW && latch == HIGH) {
    delay(300);
    speed = 0;
    latch = LOW;
    sinc = HIGH;
  }  //Stop
  if (sdec == LOW && latch == LOW) {
    delay(300);
    speed = 4;
    latch = HIGH;
    sdec = HIGH;
  }  //Slow reverse
  if (sdec == LOW && latch == HIGH) {
    delay(300);
    speed = 0;
    latch = LOW;
    sdec = HIGH;
  }  //STOP
}


void readswitch1() {
  inc = digitalRead(increment);
  dec = digitalRead(decrement);
  
  if (inc == LOW && latch == LOW) {
    delay(300);
    speed = 5;
    latch = HIGH;
    inc = HIGH;
  }  //Fast forward
  if (inc == LOW && latch == HIGH) {
    delay(300);
    speed = 0;
    latch = LOW;
    inc = HIGH;
  }  //Stop
  if (dec == LOW && latch == LOW) {
    delay(300);
    speed = 6;
    latch = HIGH;
    dec = HIGH;
  }  //Fast reverse
  if (dec == LOW && latch == HIGH) {
    delay(300);
    speed = 0;
    latch = LOW;
    dec = HIGH;
  }  //STOP
}