#include <Stepper.h>
#include <WiFi.h>
#include <ThingSpeak.h>

char ssid[] = "Wokwi-GUEST";
char pass[] = "";
WiFiClient client;
unsigned long myChannelNumber = 2641647;
const char *myWriteAPIkey = "JEVDGKE2UQD9JE9G";

int LBMotorHoriPin = 33, LBMotorHoriValue;
int LBMotorStepPin = 14;
int LBMotorDirectionPin = 27;
int LBMotorSteps = 10, LBMotorDegree = 0, LBMotorMaxDegree = 30;
Stepper LBMotor(LBMotorSteps, LBMotorStepPin, LBMotorDirectionPin);

int UBMotorVertPin = 32, UBMotorVertValue;
int UBMotorStepPin = 13;
int UBMotorDirectionPin = 12; // Fixed pin name
int UBMotorSteps = 5, UBMotorDegree = 0, UBMotorMaxDegree = 10;
Stepper UBMotor(UBMotorSteps, UBMotorStepPin, UBMotorDirectionPin); // Fixed motor pin

int baseMotorHoriPin = 34, baseMotorHoriValue;
int baseMotorStepPin = 2;
int baseMotorDirectionPin = 4; // Fixed pin name
int baseMotorSteps = 15, baseMotorDegree = 0, baseMotorMaxDegree = 90;
Stepper baseMotor(baseMotorSteps, baseMotorStepPin, baseMotorDirectionPin);

void setup() {
  Serial.begin(115200);

  WiFi.mode(WIFI_STA);
  ThingSpeak.begin(client);

  LBMotor.setSpeed(100);
  UBMotor.setSpeed(100);
  baseMotor.setSpeed(100);

  pinMode(LBMotorHoriPin, INPUT);
  pinMode(LBMotorStepPin, OUTPUT);
  pinMode(LBMotorDirectionPin, OUTPUT);

  pinMode(UBMotorVertPin, INPUT);
  pinMode(UBMotorStepPin, OUTPUT);
  pinMode(UBMotorDirectionPin, OUTPUT);

  pinMode(baseMotorHoriPin, INPUT);
  pinMode(baseMotorStepPin, OUTPUT);
  pinMode(baseMotorDirectionPin, OUTPUT); 
}

void loop() {
  connectToCloud();

  LBMotorHoriValue = map(analogRead(LBMotorHoriPin), 0, 4095, -1, 1); // Fixed variable name and mapping
  LBMotorDegree = rotateMotor(LBMotor, LBMotorHoriValue, LBMotorSteps, LBMotorDegree, LBMotorMaxDegree);
  Serial.print(LBMotorDegree);
  Serial.print(",");

  UBMotorVertValue = map(analogRead(UBMotorVertPin), 0, 4095, -1, 1); // Fixed variable name and mapping
  UBMotorDegree = rotateMotor(UBMotor, UBMotorVertValue, UBMotorSteps, UBMotorDegree, UBMotorMaxDegree);
  Serial.print(UBMotorDegree);
  Serial.print(",");

  baseMotorHoriValue = map(analogRead(baseMotorHoriPin), 0, 4095, -1, 1); // Fixed mapping
  baseMotorDegree = rotateMotor(baseMotor, baseMotorHoriValue, baseMotorSteps, baseMotorDegree, baseMotorMaxDegree); // Fixed assignment
  Serial.print(baseMotorDegree);
  Serial.println(".");

  writeData();
}

int rotateMotor(Stepper motor, int pinValue, int steps, int degree, int maxDegree) {
  if (pinValue == 1) {
    motor.step(steps);
    if (degree < maxDegree)
      degree += steps;
  } else if (pinValue == -1) {
    motor.step(-steps);
    if (degree > 0)
      degree -= steps; // Fixed typo
  }
  return degree;
}

void connectToCloud() {
  if (WiFi.status() != WL_CONNECTED) {
    Serial.print("Attempting to connect");
    while (WiFi.status() != WL_CONNECTED) {
      WiFi.begin(ssid, pass);
      for (int i = 0; i < 5; i++) {
        Serial.print(".");
        delay(1000);
      }
    }
    Serial.println("\nConnected");
  }
}

int statusCode;
void writeData() {
  ThingSpeak.setField(1, baseMotorDegree); // Fixed setField spelling
  ThingSpeak.setField(2, LBMotorDegree);   // Fixed setField spelling
  ThingSpeak.setField(3, UBMotorDegree);   // Fixed setField spelling
  statusCode = ThingSpeak.writeFields(myChannelNumber, myWriteAPIkey); // Fixed writeFields spelling and usage
  if (statusCode == 200)
    Serial.println("Channel update successful.");
  else
    Serial.println("Problem writing data. HTTP error code:" + String(statusCode));
  delay(1000);
}