/*
  28BYJ-48 stepper motor with ULN2003 and Encoder KY-040
  IN1 7
  IN2 6
  IN3 5
  IN4 4

  32 full step with 64:1 gear ratio = 2048
  https://lastminuteengineers.com/28byj48-stepper-motor-arduino-tutorial/
*/
// update min hand every 15 sec, correct for step calc rounding errors every hour.
#include <Button2.h>
#include <Encoder.h>
#include <TaskScheduler.h>

// Callback methods prototypes
void t1Callback();  // increment stepper 17 steps each 15 sec (68 steps / min or 4080 steps / hr)
void t2Callback();  // increment stepper 16 steps each hour to get to 4096 total steps each hour

//Tasks
Task t1(15000, TASK_FOREVER, &t1Callback);    //17 steps each 15 sec (68 steps / min or 4080 steps / hr)
Task t2(1800000, TASK_FOREVER, &t2Callback);  //16 steps per hour correction (8 steps / 30 min), 68x60 = 4080 and should be 4096
Scheduler runner;

// To set the time of the RTC to the local time when compiled, set setRTC to true.  Once the RTC time is set, set it to false and reflash.
#define setRTC true

// Motor and clock parameters
const long STEPS_PER_REV = 4096;  //64 HALF STEPS PER MOTOR REV * 64:1 GEAR RATIO
/*
    4096 *1/60 hr to min * 1/60 min to sec = 1.3777 steps/sec
    15 sec * 1.377777 = 17.06666 steps.  Use 17 steps every 15 sec.
    .066666*4*60 = 16 step undershoot per hour.
*/

//#define RATIO 15 // minutes per a rotation

#define BUTTON_PIN 12
Button2 button;

// wait for a single step of stepper
int delaytime = 5;  //smaller = faster

// ports used to control the stepper motor
// if your motor rotate to the opposite direction,
// 7 to IN1, 6 to IN2, 5 to IN3, 4 to IN5
// change the order as {4, 5, 6, 7};
//int port[4] = { 7, 6, 5, 4 };  <- works with UNL2003 IN1, IN2, IN3, IN4 and 28BYJ-48
//int port[4] = { 4, 5, 6, 7 };  <- works with UNL2003 IN1, IN2, IN3, IN4 and 28BYJ-48
int port[4] = { 4, 6, 5, 7 }; //<- works w/ direct drive

// either sequence seems to work fine but only half of the commanded steps occur in simulation.  real hw is fine.

// sequence of stepper motor control for 1/2 steps
// int seq[8][4] = {
//   { LOW, HIGH, HIGH, LOW },
//   { LOW, LOW, HIGH, LOW },
//   { LOW, LOW, HIGH, HIGH },
//   { LOW, LOW, LOW, HIGH },
//   { HIGH, LOW, LOW, HIGH },
//   { HIGH, LOW, LOW, LOW },
//   { HIGH, HIGH, LOW, LOW },
//   { LOW, HIGH, LOW, LOW }
// };

// sequence of stepper motor control - alternate from https://www.utmel.com/components/28byj-48-5v-stepper-motor-28byj-48-datasheet-pinout-wiring?id=1294
int seq[8][4] = {
  { LOW, HIGH, HIGH, HIGH },
  { LOW, LOW, HIGH, HIGH },
  { HIGH, LOW, HIGH, HIGH },
  { HIGH, LOW, LOW, HIGH },
  { HIGH, HIGH, LOW, HIGH },
  { HIGH, HIGH, LOW, LOW },
  { HIGH, HIGH, HIGH, LOW },
  { LOW, HIGH, HIGH, LOW }
};

void rotate(int step) {
  static int phase = 0;
  int i, j;
  int delta = (step > 0) ? 1 : 7;

  step = (step > 0) ? step : -step;
  for (j = 0; j < step; j++) {
    phase = (phase + delta) % 8;
    for (i = 0; i < 4; i++) {
      digitalWrite(port[i], seq[phase][i]);
    }
    delay(delaytime);
  }
  // de-entergize coils
  for (i = 0; i < 4; i++) {
    digitalWrite(port[i], LOW);
  }
}

#define ENCODER_CLK 2
#define ENCODER_DT 3
Encoder myEnc(ENCODER_CLK, ENCODER_DT);

// void pressed(Button2& btn) {
//   while (digitalRead(12) == LOW) {
//     delaytime = 2;
//     rotate(-68);
//   }
//   delaytime = 10;
// }

void click(Button2 &btn) {
  //delaytime = 2;
  for (int i = 0; i <= 15; i++) {
    rotate(-256);
  }
  //delaytime = 10;
}

void doubleClick(Button2 &btn) {
  //delaytime = 2;
  for (int i = 0; i <= 15; i++) {
    rotate(+256);
  }
  //delaytime = 10;
}

long oldPosition = 0;  // set encoder initial position

char buf[128];  //buffer for sprintf

void setup() {
  Serial.begin(9600);

  /* start task to take care of 47 step adjust each 4 hours */
  runner.init();
  Serial.println("Initialized scheduler");

  runner.addTask(t1);
  Serial.println("added t1");
  runner.addTask(t2);
  Serial.println("added t2");

  t1.enable();
  Serial.println("Enabled t1");
  t2.enable();
  Serial.println("Enabled t2");
  /* ************************************** */

  pinMode(port[0], OUTPUT);
  pinMode(port[1], OUTPUT);
  pinMode(port[2], OUTPUT);
  pinMode(port[3], OUTPUT);

  button.begin(BUTTON_PIN);
  //button.setPressedHandler(pressed);
  button.setClickHandler(click);
  button.setDoubleClickHandler(doubleClick);

  //int delaytime = 10;  // stepper speed

}

void loop() {

  button.loop();
  runner.execute();

  //read Encoder
  long newPosition = myEnc.read() / 4;
  if (newPosition != oldPosition) {
    if (newPosition > oldPosition) {
      //clockwise
      //delaytime = 2;
      rotate(-68);
      //delaytime = 10;
    } else {
      //anti-clockwise
      //delaytime = 2;
      rotate(68);
      //delaytime = 10;
    }
    oldPosition = newPosition;
  }
}

// increment stepper 17 steps each 15 sec
void t1Callback() {
  if (t1.isFirstIteration()) {
    Serial.println("1st");
  } else {
    Serial.println("17 step");
    // Serial.println(millis());
    rotate(17);
  }

}

// increment stepper 8 steps each 30 min
void t2Callback() {
  if (t2.isFirstIteration()) {
    Serial.println("1st");
  } else {
    Serial.println("8 step correction");
    // Serial.println(millis());
    rotate(8);
  }

}