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

LiquidCrystal_I2C lcd(0x27, 16, 2);
Servo myservo;

const int pot=A4;
const int led=A2;
int nilaipot=0;
int kode;
int trigPin = 6;
int echoPin = 7;
long waktu;
int jarak;
int nilai=0;
int posisi;
int Buzzer=11;
const int interruptPin = 2;
int nilaistate=1;

void TaskPOT(void *pvParameters);
void TaskLED(void *pvParameters);
void TaskULTRA(void *pvParameters);
void TaskSERVO(void *pvParameters);
void TaskBUZZER(void *pvParameters);
void TaskLCD(void *pvParameters);

void setup() {
  Serial.begin(9600);
  lcd.init();
  lcd.backlight();
  myservo.attach(A3);
  
  xTaskCreate( TaskPOT, "POT", 128, NULL, 4, NULL);
  xTaskCreate( TaskLED, "LED", 128, NULL, 2, NULL);
  xTaskCreate( TaskULTRA, "ULTRA", 128, NULL, 3, NULL);
  xTaskCreate( TaskSERVO, "SERVO", 128, NULL, 3, NULL);
  xTaskCreate( TaskBUZZER, "BUZZER", 128, NULL, 2, NULL);
  xTaskCreate( TaskLCD, "LCD", 128, NULL, 5, NULL);

  attachInterrupt(digitalPinToInterrupt(interruptPin), blink, FALLING);
}

void loop() {
}

void TaskPOT(void *pvParameters) {
  (void) pvParameters;
  pinMode(pot, INPUT);
  for (;;)
  {
    nilai=analogRead(pot);
    Serial.print("Nilai Potensio: ");
    nilaipot = map(nilai, 0, 1023, 0, 300);
    Serial.println(nilaipot);
    if(nilaipot<=150){
      kode=0;
    }
    else if(nilaipot>150){
      kode=1;
    }
    vTaskDelay(500 / portTICK_PERIOD_MS);
  }
  
}

void TaskLED (void *pvParameters) {
  (void) pvParameters;
  pinMode(led, OUTPUT);
  for (;;)
  {
    analogWrite(A2,nilaipot);
  }
}

void TaskULTRA (void *pvParameters) {
  (void) pvParameters;
  pinMode(6, OUTPUT);
  pinMode(7, INPUT);
  for (;;)
  {
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);

    waktu = pulseIn(echoPin, HIGH);
    jarak= waktu*0.034/2;
    Serial.print("Nilai Ultrasonik: ");
    Serial.println(jarak);
    posisi = map(jarak, 0, 265, 0, 180);
    vTaskDelay(500 / portTICK_PERIOD_MS);
   
  }
}

void TaskSERVO (void *pvParameters) {
  (void) pvParameters;
  
  for (;;)
  {
    myservo.write(posisi);
    Serial.print("Sudut Servo: ");
    Serial.println(posisi);
    vTaskDelay(500 / portTICK_PERIOD_MS);

  }
}

void TaskBUZZER (void *pvParameters) {
  (void) pvParameters;
  pinMode (Buzzer,OUTPUT);
  for (;;)
  {
  if(kode==1){
    tone(Buzzer,450);
    Serial.println("Buzzer Hidup");
    vTaskDelay(500 / portTICK_PERIOD_MS);
  }
  else if(kode==0){
    noTone(Buzzer);
    Serial.println("Buzzer Mati");
    vTaskDelay(500 / portTICK_PERIOD_MS);
  }
    
  }
}

void blink() {
  nilaistate++;
if(nilaistate>5) nilaistate=1;

}

void TaskLCD (void *pvParameters) {
  (void) pvParameters;
  for(;;){
  if(nilaistate==1){
    lcd.setCursor(0, 0);
    lcd.print("Nilai Potensio:");
    lcd.setCursor(0, 1);
    lcd.print(nilaipot);
  }
  else if(nilaistate==2){
    if(kode==1){
    lcd.setCursor(0, 0);
    lcd.print("Led Hidup");
    lcd.setCursor(0, 1);
    lcd.print("Kecerahan : ");
    lcd.print(nilaipot);
    }
    else if(kode==0){
    lcd.setCursor(0, 0);
    lcd.print("Led Mati");
    vTaskDelay(500 / portTICK_PERIOD_MS);
    } 
  }
  else if (nilaistate==3){
    lcd.setCursor(0, 0);
    lcd.print("Nilai Ultrasonik:");
    lcd.setCursor(0, 1);
    lcd.print(jarak);
  }
  else if (nilaistate==4){
    lcd.setCursor(0, 0);
    lcd.print("Sudut Servo:");
    lcd.setCursor(0, 1);
    lcd.print(posisi);
  }
  else if(nilaistate==5){
    if(kode==1){
    lcd.setCursor(0, 0);
    lcd.print("Buzzer Hidup");
    }
    else if(kode==0){
    lcd.setCursor(0, 0);
    lcd.print("Buzzer Mati");
   
    } 
  }
  vTaskDelay(100);
  lcd.clear();
  
}
}