// Rename pins for clarity
#define CWOUT  3 // output for clockwise rotation
#define CCWOUT 4 // output for counterclockwise rotation
#define LEVELIN 5 // float switch to indicate water level
#define STOP 2 // button to pause or resume cycle
#define SHORT 7 // button to run short wash cycle
#define MEDIUM 6 // button to run medium length wash cycle
#define LONG 8 // button to run long wash cycle
#define FILLOPEN 9 // output to open fill valve
#define DRAINOPEN 10 // output to open drain valve
#define HSIN A0 // variable to track number of rotations through Hall sensor
const int hallvmax =  5 * 1023 / 5; // variable to track Hall sensor's output   
unsigned long prevtime = 0;
unsigned long starttime = 0;
unsigned long stoptime1 = 0;
unsigned long now = 0;
volatile unsigned long stoptime0 = 0;
bool run = false; // indicates button pressed
bool stalled = false;
int rotations = 0;
volatile bool interrupt = false; // variable to track start/stop
const int pausetime = 1000; // time between spinning  
int turns = 120; // number of back and forth rotations for normal wash  
const int checktime = 10000; // time in ms between attempts to restart if motor stalled
const int stalltime = 2000; // max reasonable time for the drum to make one rotation
const int cyclenum = 3; // total number of wash/rinse cycles     
const unsigned long draintime = 5000; // number of seconds to let water dain out
const int vclosetime = 6000; // time for valve to fully close
const unsigned long soaktime = 5000; // time to soak before washing (1 hr)

// Track start/stop button press
void stopstart(){
  stoptime1 = millis(); //log time of button press
  if (stoptime1 - stoptime0 > 500) {
    interrupt = !interrupt; // toggle interrupt variable with button press
    stoptime0 = stoptime1; // reset pause button timer
    // prevtime = stoptime1;  // reset rotations timer
    /*if (interrupt) {
        digitalWrite(CWOUT, LOW); // turn off motor if interrupted
        digitalWrite(CCWOUT, LOW);
     }*/
  }
}
// Function to count rotations
void rcount() {
  int trigger = analogRead(HSIN);   // read in Hall sensor value
  now = millis();  // mark time
  stoptime1 = now;
  if (now - prevtime > stalltime){
    interrupt = true;
    stalled = true;
  } else if (abs(trigger - hallvmax) < 3) {
      prevtime = now; // store last time triggered
      rotations++; // mark an extra rotation when sensor reads in max value
      delay(300); // wait 300 ms to prevent double counting                            
  }
}
// Function to check periodically whether motor is still stalled
void unstall() {
  delay(checktime); // wait prescribed interval before trying to start motor again
  interrupt = false;
  stalled = false;
  prevtime = millis();
}
void rotate(int times) {
      for (int i = 0; i < times; i+= (1-interrupt)) { // do the cycles a given number of times and stall if interrupt is triggered
      if (interrupt == false) {
        rotations = 0; // reset rotations counter
        prevtime = millis();  // reset stalled motor timer
        do {
          stoptime1 = millis();
          digitalWrite(CCWOUT, HIGH); // power transistor to counterclockwise relay
          rcount(); // keep track of rotations
          if (stalled) {
            digitalWrite(CCWOUT, LOW); // cut motor power if stalled
            unstall(); // try to restart motor if stalled
          }
        } while (rotations < 2 && interrupt == false);
        digitalWrite(CCWOUT, LOW); // turn off motor power
        stoptime1 = millis();
        if (interrupt == false) {
          delay(5); // wait 0.5 seconds before switching directions
          rotations = 0; // reset rotations counter again IF NOT PAUSED
        }
     }
      if (interrupt == false) {
         prevtime = millis();  // reset stalled motor counter
        do {
          stoptime1 = millis();
          digitalWrite(CWOUT, HIGH); // power transitor to clockwise relays
          rcount(); // keep track of rotations
          if (stalled) {
            digitalWrite(CWOUT, LOW); // turn off motor power if stalled
            unstall(); // try to restart motor
          }
        } while (rotations < 2 && interrupt == false);
        digitalWrite(CWOUT, LOW); // turn off motor power again
        if (interrupt == false) {
          delay(500); // for 0.5 seconds
          rotations = 0;
        }
      }
      stoptime1 = millis();
    }    
}
void setup() {
  // put your setup code here, to run once:
  
// Set up pins to provide needed outputs and inputs
pinMode(CWOUT, OUTPUT);
pinMode(CCWOUT, OUTPUT);
pinMode(SHORT, INPUT_PULLUP);
pinMode(MEDIUM, INPUT_PULLUP);
pinMode(LONG, INPUT_PULLUP);
pinMode(STOP, INPUT_PULLUP);
pinMode(LEVELIN, INPUT_PULLUP);
pinMode(FILLOPEN, OUTPUT);
pinMode(DRAINOPEN, OUTPUT);
pinMode(HSIN, INPUT);
attachInterrupt(digitalPinToInterrupt(STOP), stopstart, FALLING); // set up stop pin to interrupt everything else
}

void loop() {
  // put your main code here, to run repeatedly:
      // Fill drum
    if (digitalRead(SHORT) == LOW) {
      turns = 1;
      run = true;
    } else if (digitalRead(MEDIUM) == LOW) {
      turns = 2;
      run = true;
    } else if (digitalRead(LONG) == LOW) {
      turns = 3;
      run = true;
    }
    if (run == true) {
      for (int j=0; j < cyclenum; j += (1-interrupt)) {
        
         do {
          digitalWrite(FILLOPEN, HIGH); // open fill valve to fill drum
        } while (digitalRead(LEVELIN) == HIGH); // stop filling when float switch closes
        
        digitalWrite(FILLOPEN, LOW);
        delay(vclosetime); // wait for valve to close
        
        // Briefly agitate and let sit first time only
        if (j == 0){
          // Rotate back and forth 
          rotate(5);
          starttime = millis(); // log time
          while (millis() - starttime < soaktime);
        }
        // Rotate back and forth
        rotate(turns);
        starttime = millis(); // log time
        while (millis() - starttime < draintime) {
          digitalWrite(DRAINOPEN, HIGH); // open drain valve to drain drum
        } 
        digitalWrite(DRAINOPEN, LOW);
        delay(vclosetime); // wait for valve to close
    }
    run = false; // stop washing until next button press
   }
 }