#include <Wire.h> 
#include <LiquidCrystal_I2C.h>

#define clk 8
#define data 9
#define SW 10

int ready=0;
int pushed=0;
int menu=0;
int opt=1;
int last_counter = 0;
int button_state;

char dir;
char axis;
float value=0;



int counter = 0; 
bool clk_State;
bool Last_State; 
bool dt_State;
uint8_t arrow[8] = {0x00,0x04,0x06,0x1f,0x06,0x04,0x00};
uint8_t retarrow[8] = {0x01,0x01,0x05,0x09,0x1f,0x08,0x04};

LiquidCrystal_I2C lcd(0x27,16,2);    // set the LCD address to 0x27 for a 16 chars and 2 line display

void setup()
{

  pinMode (clk,INPUT);
   pinMode (data,INPUT);   
   pinMode(SW, INPUT_PULLUP);
   Serial.begin (115200); //Start serial com so we could print the value on the serial monitor
   // Reads the initial state of the clock pin
   PCICR |= (1 << PCIE0);    //enable PCMSK0 scan                                                 
  PCMSK0 |= (1 << PCINT0);  //Set pin D8 trigger an interrupt on state change. 
  PCMSK0 |= (1 << PCINT1);  //Set pin D9 trigger an interrupt on state change.  
  DDRB &= B11111100;        //8, 9 as input for the encoder clock and data pins

  Last_State =   (PINB & B00000001); //pin 8 state (clock pin)?

  lcd.init();                         // initialize the lcd 
  lcd.backlight();
  lcd.createChar(0, arrow);          //create arrow
  lcd.home();
  
  lcd.setCursor(1,0);                // set cursor initial value
  lcd.print("Control");              // Print a message to the LCD.
  lcd.setCursor(1,1);                // set cursor initial value
  lcd.print("Setting");              // Print a message to the LCD.
  lcd.setCursor(0,0);
  lcd.write(0);                        //arrow



}


void loop()
{
 if((last_counter > counter) || (last_counter < counter) || pushed) //Only print on the LCD when a step is detected or the button is pushed.
   {
    L:if(menu==0){                        // control + setting + SD Card menu
      if(0 <= counter && counter < 3){      //arrow on control
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Control");              // Print a message to the LCD.
          lcd.setCursor(1,1);                
          lcd.print("Setting");              
          lcd.setCursor(0,0);
          lcd.write(0);                      //arrow
          opt=1;
        }

        L2:if(3 < counter && counter < 6){     //arrow on setting
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Control");              // Print a message to the LCD.
          lcd.setCursor(1,1);                
          lcd.print("Setting");              
          lcd.setCursor(0,1);
          lcd.write(0);                        //arrow
          opt=2;
        }

        if(6 < counter && counter < 9){      //arrow on SD CARD MENU
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("SD card menu");         // Print a message to the LCD.
          lcd.setCursor(0,0);
          lcd.write(0);                      //arrow
          opt=3;
        }
    }

    M: if(menu==1){                          //Back + move axis
      if(0 <= counter && counter < 3){     //arrow on BACK
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");                 // Print a message to the LCD.
          lcd.setCursor(1,1);                
          lcd.print("Move axis");              
          lcd.setCursor(0,0);
          lcd.write(0);                      //arrow
          opt=1;                    
          pushed=0;
          delay(500);
        }

        if(3 < counter && counter < 6){       //arrow on MOVE AXIS
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");              // Print a message to the LCD.
          lcd.setCursor(1,1);                
          lcd.print("Move axis");              
          lcd.setCursor(0,1);
          lcd.write(0);                   //arrow
          opt=2;                  
          pushed=0;
          delay(500);
        }

    }

    if(menu==2){                           //Back + Baud rate
      if(0 <= counter && counter < 3){       //arrow on BACK
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");              // Print a message to the LCD.
          lcd.setCursor(1,1);               
          lcd.print("Baud Rate");              
          lcd.setCursor(0,0);
          lcd.write(0);                    //arrow
          pushed=0;      
          opt=1;
          delay(500);
        }

        if(3 < counter && counter < 6){      ////arrow on BAUD RATE
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");              // Print a message to the LCD.
          lcd.setCursor(1,1);                
          lcd.print("Baud Rate");             
          lcd.setCursor(0,1);
          lcd.write(0);                 //arrow
          pushed=0;     
          opt=2;        
          delay(500);
        }
    }

    if(menu==3){                            //Back 
      if(0 <= counter && counter < 3){       //arrow on BACK
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");              // Print a message to the LCD.          
          lcd.setCursor(0,0);
          lcd.write(0);                     //arrow
          pushed=0;       
          opt=1;
          delay(500);
        }
    }

    K: if(menu==4){                       //BACK + MOVE X AXIS + MOVE Y AXIS + MOVE Z AXIS
      if(0 <= counter && counter < 3){     // ARROW ON BACK
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");              // Print a message to the LCD.
          lcd.setCursor(1,1);                // set cursor initial value
          lcd.print("Move X axis");              // Print a message to the LCD.
          lcd.setCursor(0,0);
          lcd.write(0);   
          pushed=0;      //arrow
          opt=1;
          delay(500);
        }

        if(3 < counter && counter < 6){    // ARROW ON MOVE X AXIS
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");              // Print a message to the LCD.
          lcd.setCursor(1,1);                // set cursor initial value
          lcd.print("Move X axis");              // Print a message to the LCD.
          lcd.setCursor(0,1);
          lcd.write(0); 
          pushed=0;     
          opt=2;        
          delay(500);
        }

        if(6 <= counter && counter < 9){    // ARROW ON MOVE Y AXIS
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Move Y axis");              // Print a message to the LCD.
          lcd.setCursor(1,1);                // set cursor initial value
          lcd.print("Move Z axis");              // Print a message to the LCD.
          lcd.setCursor(0,0);
          lcd.write(0);   
          pushed=0;      //arrow
          opt=3;
          delay(500);
        }

        if(9 < counter && counter < 12){        //ARROW ON MOVE Z AXIS
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Move Y axis");              // Print a message to the LCD.
          lcd.setCursor(1,1);                // set cursor initial value
          lcd.print("Move Z axis");              // Print a message to the LCD.
          lcd.setCursor(0,1);
          lcd.write(0); 
          pushed=0;     
          opt=4;        
          delay(500);
        }
    }

    N: if(menu==5){                       //BACK + MOVE 100 MM + MOVE 10 MM + MOVE 0.1 MM
      if(0 <= counter && counter < 3){          //ARROW ON BACK
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");              // Print a message to the LCD.
          lcd.setCursor(1,1);                // set cursor initial value
          lcd.print(" +Direction");              // Print a message to the LCD.
          lcd.setCursor(0,0);
          lcd.write(0);   
          pushed=0;      //arrow
          opt=1;
          delay(500);
        }

        if(3 < counter && counter < 6){                //ARROW ON +DIRECTION
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");              // Print a message to the LCD.
          lcd.setCursor(1,1);                // set cursor initial value
          lcd.print(" +Direction");              // Print a message to the LCD.
          lcd.setCursor(0,1);
          lcd.write(0); 
          pushed=0;     
          opt=2;        
          delay(500);
        }

        if(6 <= counter && counter < 9){       //ARROW ON -DIRECTION
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print(" -Direction");              // Print a message to the LCD.
          lcd.setCursor(0,0);
          lcd.write(0);   
          pushed=0;      
          opt=3;
          delay(500);
        }
    }

    if(menu==6){                       //BACK + MOVE 100 MM + MOVE 10 MM + MOVE 0.1 MM
      if(0 <= counter && counter < 3){
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");              // Print a message to the LCD.
          lcd.setCursor(1,1);                // set cursor initial value
          lcd.print("Move 100 mm");              // Print a message to the LCD.
          lcd.setCursor(0,0);
          lcd.write(0);   
          pushed=0;    
          opt=1;
          delay(500);
        }

        if(3 < counter && counter < 6){
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Back");              // Print a message to the LCD.
          lcd.setCursor(1,1);                // set cursor initial value
          lcd.print("Move 100 mm");              // Print a message to the LCD.
          lcd.setCursor(0,1);
          lcd.write(0); 
          pushed=0;     
          opt=2;        
          delay(500);
        }

        if(6 <= counter && counter < 9){
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Move 10 mm");              // Print a message to the LCD.
          lcd.setCursor(1,1);                // set cursor initial value
          lcd.print("Move 1 mm");              // Print a message to the LCD.
          lcd.setCursor(0,0);
          lcd.write(0);   
          pushed=0;      //arrow
          opt=3;
          delay(500);
        }

        if(9 < counter && counter < 12){
          lcd.clear();
          lcd.setCursor(1,0);                // set cursor initial value
          lcd.print("Move 10 mm");              // Print a message to the LCD.
          lcd.setCursor(1,1);                // set cursor initial value
          lcd.print("Move 1 mm");              // Print a message to the LCD.
          lcd.setCursor(0,1);
          lcd.write(0); 
          pushed=0;     
          opt=4;        
          delay(500);
        }
    }
   }

last_counter= counter;

if(digitalRead(SW)==0){

  if(menu==0){
    if(opt==1){                  //select control
      menu=1;
      counter=0;
      opt=0;
      pushed=1;
    }
    if(opt==2){                  //selects setting
      menu=2;
      counter=0;
      opt=0;
      pushed=1;
    }
    if(opt==3){                   //selects SD card menu
      menu=3;
      counter=0;
      opt=0;
      pushed=1;
    }
  }

  if(menu==1){
    if(opt==1){                     //selects control---->back
      menu=0;
      counter=0;
      opt=0;
      pushed=0;
      delay(200);
      goto L;
    }
    if(opt==2){                           //selects control--->moving axis
      counter=0;
      opt=0;
      pushed=1;
      menu=4;
      delay(200);
    }
  }

  if(menu==2){
    if(opt==1){                          //selects setting--->back
      menu=0;
      counter=4;                         // it is set to 4  for getting the arrow at settings
      opt=0;
      pushed=0;
      delay(200);
      goto L;
    }
    if(opt==2){                         //selects SETTING--->baudrate--->115200
      lcd.clear();
      lcd.setCursor(1,0);                // set cursor initial valu
      lcd.print("115200");
      counter=0;
      opt=0;
      pushed=1;
      delay(2000);
    }
  }

   if(menu==3){
    if(opt==1){                          //selects SD Card menu--->back
      menu=0;
      counter=7;                           // it is set to 7 for getting the arrow at SD CARD menu
      opt=0;
      pushed=0;
      delay(200);
      goto L;
    }
  }

  if(menu==4){
    if(opt==1){                     //selects control---->moving axis--->back
      menu=1;
      counter=4;
      opt=0;
      pushed=0;
      delay(200);
      goto M;
    }
    if(opt==2){                      //selects control---->moving axis--->X axis
      menu=5;
      counter=0;
      opt=0;
      pushed=1;
      axis='X';
      delay(200);
    }
    if(opt==3){                     //selects control---->moving axis--->Y axis
      menu=5;
      counter=0;
      opt=0;
      pushed=1;
      axis='Y';
      delay(200);
      goto L;
    }
    if(opt==4){                       //selects control---->moving axis--->Z axis
      menu=5;
      counter=0;
      opt=0;
      pushed=1;
      axis='Z';
      delay(200);
    }
  }

  if(menu==5){
    if(opt==1){                     //selects control---->moving axis--->selects X,Y,Z---->BACK
      menu=4;
      counter=0;
      opt=0;
      pushed=0;
      delay(200);
      goto K;
    }
    if(opt==2){                      //selects control---->moving axis--->selects X,Y,Z---->+DIRECTION
      menu=6;
      counter=0;
      opt=0;
      pushed=1;
      dir='+';
      delay(200);
    }
    if(opt==3){                     //selects control---->moving axis--->selects X,Y,Z---->-DIRECTION
      menu=6;
      counter=0;
      opt=0;
      pushed=1;
      dir='-';
      delay(200);
    }
  }

  if(menu==6){
    if(opt==1){                    //selects control---->moving axis--->selects X,Y,Z---->selects +,-DIRECTION--->back
      menu=5;
      counter=0;
      opt=0;
      pushed=0;
      delay(200);
      goto N;
    }
    if(opt==2){                      //selects control---->moving axis--->selects X,Y,Z---->selects +,-DIRECTION--->100mm
    // while (digitalRead(SW)==0){
      value=20;
      if(axis=='X'){
        if(dir=='+'){
          Serial.println("G21G91X+20F300");         //gcode to move along positive x direction for 100mm with feed rate of 300mm/min.
        }
        if(dir=='-'){
          Serial.println("G21G91X-20F300");
        }
      }
      if(axis=='Y'){
        if(dir=='+'){
          Serial.println("G21G91Y+20F300");
        }
        if(dir=='-'){
          Serial.println("G21G91Y-20F300");
        }
      }
      if(axis=='Z'){
        if(dir=='+'){
          Serial.println("G21G91Z+20F300");
        }
        if(dir=='-'){
          Serial.println("G21G91Z-20F300");
        }
      }
    // } 

      counter=4;
      opt=0;
      pushed=1;
      delay(3500);
    }

    if(opt==3){                     //selects control---->moving axis--->selects X,Y,Z---->selects +,-DIRECTION--->10mm
    // while (digitalRead(SW)==0){
      value=2;
      if(axis=='X'){
        if(dir=='+'){
          Serial.println("G21G91X+2F300");    //gcode to move along positive X direction for 10mm with feed rate of 300mm/min.
        }
        if(dir=='-'){
          Serial.println("G21G91X-2F300");
        }
      }
      if(axis=='Y'){
        if(dir=='+'){
          Serial.println("G21G91Y+2F300");
        }
        if(dir=='-'){
          Serial.println("G21G91Y-2F300");
        }
      }
      if(axis=='Z'){
        if(dir=='+'){
          Serial.println("G21G91Z+2F300");
        }
        if(dir=='-'){
          Serial.println("G21G91Z-2F300");
        }
      }
    // }
      counter=7;
      opt=0;
      pushed=1;
      delay(20);
    }

    if(opt==4){                       //selects control---->moving axis--->selects X,Y,Z---->selects +,-DIRECTION--->1mm
    // while (digitalRead(SW)==0){
      value=0.2;
      if(axis=='X'){
        if(dir=='+'){
          Serial.println("G21G91X+0.2F300");               //gcode to move along positive x direction for 1mm with feed rate of 300mm/min.
        }
        if(dir=='-'){
          Serial.println("G21G91X-0.2F300");
        }
      }
      if(axis=='Y'){
        if(dir=='+'){
          Serial.println("G21G91Y+0.2F300");
        }
        if(dir=='-'){
          Serial.println("G21G91Y-0.2F300");
        }
      }
      if(axis=='Z'){
        if(dir=='+'){
          Serial.println("G21G91Z+0.2F300");
        }
        if(dir=='-'){
          Serial.println("G21G91Z-0.2F300");
        }
      }
    // }
      counter=10;
      opt=0;
      pushed=1;
    }
  }

  if(counter > 12)
    {
      counter=0;
    }
    if(counter < 0)
    {
      counter=12;
    }
}
}




//Interruption vector

ISR(PCINT0_vect){
  
  clk_State =   (PINB & B00000001); //pin 8 state, clock pin? 
  dt_State  =   (PINB & B00000010); 
  if (clk_State != Last_State){     
     // If the data state is different to the clock state, that means the encoder is rotating clockwise    
     if (dt_State != clk_State) { 
       counter ++;
     }
     else {
       counter --;
     } 
   } 
   Last_State = clk_State; // Updates the previous state of the data with the current state
  
}