#include <EEPROM.h>
#include <LiquidCrystal_I2C.h>

// Initializing lcd
LiquidCrystal_I2C lcd(0x27, 16, 2);

// Initializing motor_delay, motor_rotation, mode of motor, motor_speed
int m_dly,m_rot,mode,m,sm,m_speed;

long sys_dly,rot;

//Initializing settings, motor_state, motor_direction
bool st,m_st,m_dir,dis;

// steps
int steps;

void setup() {

  steps = 0;

  //starting lcd
  lcd.begin(16,2);
  lcd.backlight();
 
  // setting 3 push up button
  pinMode(2, INPUT_PULLUP);
  pinMode(3, INPUT_PULLUP);
  pinMode(4, INPUT_PULLUP);

  // setting stepper motor driver
  pinMode(8,OUTPUT);
  pinMode(9,OUTPUT);

  // Reading mode from EEPROM
  mode=EEPROM.read(0);

  if(mode>2)mode=0;

  // Reading speed 
  m_speed =EEPROM.read(1);
  m_speed =m_speed+EEPROM.read(2)*100;
  m_speed =m_speed+EEPROM.read(3)*10000;

  if(m_speed>10000)m_speed=10;

  // Reading rotation
  m_rot =EEPROM.read(4);
  m_rot =m_rot+EEPROM.read(5)*100;
  m_rot =m_rot+EEPROM.read(6)*10000;

  if(m_rot>10000)m_rot=0;
}

void loop() {

// 1 rot = 10000 microseconds
rot=m_rot*200;

// Button in default state then state and motor delay sets to zero
if (digitalRead(2)&digitalRead(3)&digitalRead(4))st=m_dly = 0;

// If green button pushed and the state is zero
if (!digitalRead(2)&!st){

  if(m>0&m<4)sm++;

  m_dly++;

  if(m_dly>50){
    m_dly=0;
    m=1;
    st=1;
  }

  if(m>0)st=1;

  if(m==4)m=0;

  // clicking green button after getting in the set mode setting
  if(sm>1&m==1){
    sm=0;
    EEPROM.update(0, mode);
  }

  // (3) clicking green button after getting in the speed setting
  if(sm>3&m==2){
    sm=0;
    EEPROM.update(1, m_speed%100);
    EEPROM.update(2, (m_speed/100)%100);
    EEPROM.update(3, (m_speed/10000)%100);
  }

  // (3) clicking green button after getting in the rotation setting
  if(sm>3&m==3){
    sm=0;
    EEPROM.update(4, m_rot%100);
    EEPROM.update(5, (m_rot/100)%100);
    EEPROM.update(6, (m_rot/10000)%100);
  }

}

// Pushing yellow button and the state is zero
if (!digitalRead(3)&!st){

  st=1;

  if(m==0)dis=1;

  if(m==0){
    m_dir=!m_dir;
  }

  if(m!=0){ 

    if(sm==0)m++;

    if(m==1&sm==1)mode++;

    if(mode>2)mode=0;
 
    if(m==2&sm==1)m_speed =m_speed +10;

    if(m==2&sm==2)m_speed =m_speed +100;

    if(m==2&sm==3)m_speed =m_speed +1000;

    if(m_speed>10000)m_speed=10;

    if(m==3&sm==1)m_rot =m_rot +1;

    if(m==3&sm==2)m_rot =m_rot +10;

    if(m==3&sm==3)m_rot =m_rot +100;

    if(m==3&sm==4)m_rot =m_rot +1000;

    if(m_rot>10000)m_rot=1;

    if(m>4)m=1;
  }
    
}

// white button pressed and state is zero
if (!digitalRead(4)&!st){

  st=1;

  if(m==0)dis=1;

  if(m==0){
    m_st=!m_st;
    sys_dly=0;
  }

  if(m!=0){
    if(sm==0)m--;

    if(m==1&sm==1)mode--;

    if(mode<0)mode=3;

    if(m==2&sm==1)m_speed =m_speed -10;

    if(m==2&sm==2)m_speed =m_speed -100;

    if(m==2&sm==3)m_speed =m_speed -1000;

    if(m_speed<10)m_speed=10000;

    if(m==3&sm==1)m_rot =m_rot -1;

    if(m==3&sm==2)m_rot =m_rot -10;

    if(m==3&sm==3)m_rot =m_rot -100;

    if(m==3&sm==4)m_rot =m_rot -1000;

    if(m_rot<0)m_rot=10000;
    
    if(m<1)m=4;

  }
} 
  
if((m==0&!m_st)|dis){ 
  dis=0;

  lcd.setCursor(0, 0);

  lcd.print("Mode:");
  lcd.print(mode);
  lcd.print(" Rot:");

  if(m_rot<1|mode==0)lcd.print("inf");
  else lcd.print(m_rot);

  lcd.print("    ");
  lcd.setCursor(0, 1);
  lcd.print("Moter:");

  if(m_st)lcd.print("ON ");
  else lcd.print("OFF");

  lcd.print(" Dir:");

  if(m_dir)lcd.print("FW");
  else lcd.print("BW");

  digitalWrite(8,0); 

}

//------------------------------------

if(m_st){

  if(mode==0){
    digitalWrite(8,m_dir);
    digitalWrite(9,0);
    delayMicroseconds(10400-m_speed);
    digitalWrite(9,1);
    delayMicroseconds(10400-m_speed*0.25);
  }

  if(mode==1){
    if(sys_dly<rot){
      sys_dly++;
      digitalWrite(8,m_dir);
      digitalWrite(9,0);
      delayMicroseconds(10400-m_speed);
      digitalWrite(9,1);
      delayMicroseconds(10400-m_speed);
    }
    else{
      m_st=0;
    }
  }

  if(mode==2){
    if(sys_dly<rot){
      sys_dly++;
      digitalWrite(8,m_dir);
      digitalWrite(9,0);
      delayMicroseconds(10400-m_speed);
      digitalWrite(9,1);
      delayMicroseconds(10400-m_speed*0.25);
    }
    else{
      sys_dly = 0;
      m_dir=!m_dir;
    }
  }

  // if(mode>0&sys_dly<rot){
  //   sys_dly++;
  //   digitalWrite(8,m_dir);
  //   digitalWrite(9,0);
  //   delayMicroseconds(10400-m_speed);
  //   digitalWrite(9,1);
  //   delayMicroseconds(10400-m_speed);
  // }
  // else if(mode==1)

  // else if(mode==2) {
  //   m_st=0;
  //   m_dir=!m_dir;
  // }

}

//--------------------

if(m==1){ 

  lcd.setCursor(0, 0);
  lcd.print("    Set Mode    ");
  lcd.setCursor(0, 1);

  if(sm==0) lcd.print("[--------------]");
  else{ lcd.print("     Mode:");

  lcd.print(mode);
  lcd.print("     ");}

}

if(m==2){ 

  lcd.setCursor(0, 0);
  lcd.print("   Set Speed    ");
  lcd.setCursor(0, 1);

  if(sm==0) lcd.print("[--------------]");
  else{ lcd.print("  Speed:");
   lcd.print(m_speed);
   lcd.print("      ");
  }
}

if(m==3){ 

  lcd.setCursor(0, 0);
  lcd.print(" Set Rotations  ");
  lcd.setCursor(0, 1);

  if(sm==0) lcd.print("[--------------]");
  else{ lcd.print("   Rot:");

  lcd.print(m_rot);
  lcd.print("       ");
  }
}

if(m==4){ 

  lcd.setCursor(0, 0);
  lcd.print("      Exit      ");
  lcd.setCursor(0, 1);
  lcd.print("XXXXXXXXXXXXXXXX");
  
  }
}