#include <Keypad.h>
#include <stdio.h>

// Define the size of the keypad (4 rows and 4 columns)
const byte ROWS = 4; // four rows
const byte COLS = 3; // four columns

#define TOGGLE_SWITCH_PIN PH4
#define HIGH_THRESHOLD 600
#define LOW_THRESHOLD 540

// Define the keys on your keypad
char keys[ROWS][COLS] = {
  {'1', '2', '3'},
  {'4', '5', '6'},
  {'7', '8', '9'},
  {'*', '0', '#'},
};

// Connect the keypad's row and column pins to your Arduino
byte rowPins[ROWS] = {A0, A1, A2, A3};  // Row pins connected to A0, A1, A2, A3
byte colPins[COLS] = {A4, A5, A6};  // Column pins connected to A4, A5, A6, A7

// Create the Keypad object
Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);


// Function prototypes for USART communication
void USART_init(unsigned int ubrr);
unsigned char USART_receive(void);
void USART_transmit(unsigned char data);
void printString(const char* str);

void setup() {

  cli(); // Disable all interrupts

  // Set pin 7 as an input with internal pull-up enabled (PD7)
    DDRH &= ~(1 << TOGGLE_SWITCH_PIN);  // Clear the PD7 bit in DDRD to make it an input
    PORTH |= (1 << TOGGLE_SWITCH_PIN);  // Set the PD7 bit in PORTD to enable the internal pull-up resistor

    // Set up the ADC
    ADMUX = (1 << REFS0); // Set reference voltage to AVcc
    ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1); // Enable ADC, set prescaler to 64
    
    // *** Timer/Counter 3 Configuration (for 3 servos on pins PE3, PE4, and PE5) ***
    
    // Set pins PE3 (Pin 5), PE4 (Pin 2),  as output pins for OC3A, OC3B, 
    DDRE |= (1 << DDE3) | (1 << DDE4) ;
    
    
    // Configure Timer/Counter 3 for Fast PWM mode 14
    // Set Output Compare Mode 2 (Clear OC3A, OC3B, and OC3C on compare match)
    TCCR3A = (1 << COM3A1) | (1 << COM3B1) | (1 << COM3C1) | (1 << WGM31); 
    
    // Set Fast PWM mode 14, set ICR3 as TOP, and set prescaler to clk/256
    TCCR3B = (1 << WGM33) | (1 << WGM32) | (1 << CS32);  
    
    // Set the TOP value for 20 ms period (for all 3 servos controlled by Timer 3)
    ICR3 = 1250;  
    
    // Set initial duty cycles (neutral midpoint for each servo)
    OCR3A = 93;  // Servo 1 (Pin 5)
    OCR3B = 93;  // Servo 2 (Pin 2)
    
    
    // Initialize Timer/Counter 3 to start from 0
    TCNT3 = 0;  
    
    // *** Timer/Counter 1 Configuration (for 2 servos on pins PB1 and PB2) ***
    
    // Set pins PB1 (Pin 11) and PB2 (Pin 12) as output pins for OC1A and OC1B
    DDRB |= (1 << DDB5) | (1 << DDB6);
    
    // Configure Timer/Counter 1 for Fast PWM mode 14
    // Set Output Compare Mode 2 (Clear OC1A and OC1B on compare match)
    TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM11); 
    
    // Set Fast PWM mode 14, set ICR1 as TOP, and set prescaler to clk/256
    TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS12);  
    
    // Set the TOP value for 20 ms period (for the 2 servos controlled by Timer 1)
    ICR1 = 1250;  
    
    // Set initial duty cycles (neutral midpoint for each servo)
    OCR1A = 93;  // Servo 3 (Pin 11)
    OCR1B = 93;  // Servo 4 (Pin 12)
    
    // Initialize Timer/Counter 1 to start from 0
    TCNT1 = 0;  
    
    // *** Timer/Counter 4 Configuration (for 2 servos on pins PB1 and PB2) ***
    
    // Set pins PH3 (Pin 6) as output pins for OC1A and OC1B
    DDRH |= (1 << DDH3) ;
    
    // Configure Timer/Counter 4 for Fast PWM mode 14
    // Set Output Compare Mode 2 (Clear OC1A and OC1B on compare match)
    TCCR4A = (1 << COM4A1) | (1 << COM4B1) | (1 << WGM41); 
    
    // Set Fast PWM mode 14, set ICR1 as TOP, and set prescaler to clk/256
    TCCR4B = (1 << WGM43) | (1 << WGM42) | (1 << CS42);  
    
    // Set the TOP value for 20 ms period (for the  servo controlled by Timer 4)
    ICR4 = 1250;  
    
    // Set initial duty cycles (neutral midpoint for  servo)
    OCR4A = 93;  // Servo 5 (Pin 6)
      
    
    // Initialize Timer/Counter 4 to start from 0
    TCNT4 = 0;  
    
    
    sei(); // Enable interrupts globally

  USART_init(103);  // Initialize USART with baud rate 9600
  
 

  setNeutralExpression();  // Start with neutral expression
}

// Function to set neutral expression

void setNeutralExpression() {
  // Move all servos to 0 degrees
    OCR3A = 92;  // Servo 1
    OCR3B = 92;  // Servo 2
    OCR4A = 92;  // Servo 3
    OCR1A = 92;  // Servo 4
    OCR1B = 92;  // Servo 5
    _delay_ms(1000);  // Wait for 1 second
    
    
}

// Function to set happy expression
void setHappyExpression() {
  // Move all servos to 0 degrees
    OCR3A = 92;  // Servo 1
    OCR3B = 92;  // Servo 2
    OCR4A = 63;  // Servo 3
    OCR1A = 125;  // Servo 4
    OCR1B = 125;  // Servo 5
    _delay_ms(1000);  // Wait for 1 second
    
    
}

// Function to set sad expression
void setSadExpression() {
  // Move all servos to 0 degrees
    OCR3A = 63;  // Servo 1
    OCR3B = 125;  // Servo 2
    OCR4A = 63;  // Servo 3
    OCR1A = 125;  // Servo 4
    OCR1B = 63;  // Servo 5
    _delay_ms(1000);  // Wait for 1 second
    
    // Move all servos to 90 degrees
   
}

// Function to set angry expression
void setAngryExpression() {
  // Move all servos to 0 degrees
    OCR3A = 125;  // Servo 1
    OCR3B = 63;  // Servo 2
    OCR4A = 63;  // Servo 3
    OCR1A = 63;  // Servo 4
    OCR1B = 125;  // Servo 5
    _delay_ms(1000);  // Wait for 1 second
    
   
}

// Function to set surprised expression

void setSurprisedExpression() {
  // Move all servos to 0 degrees
    OCR3A = 63;  // Servo 1
    OCR3B = 92;  // Servo 2
    OCR4A = 63;  // Servo 3
    OCR1A = 92;  // Servo 4
    OCR1B = 63;  // Servo 5
    _delay_ms(1000);  // Wait for 1 second
    
   
}

// Read microphone input from ADC7 (A7 pin)
int readMicrophone() {
    ADMUX &= 0xF0;        // Clear the lower 4 bits to reset the ADC channel selection
    ADMUX |= 0x07;        // Set the MUX[3:0] bits to 0111 to select ADC7 (A7 pin)

    ADCSRA |= (1 << ADSC); // Start the conversion
    while (ADCSRA & (1 << ADSC));  // Wait for the conversion to finish
    return ADC;            // Return the ADC result
}

// USART Initialization
void USART_init(unsigned int ubrr) {
  // Set baud rate
  UBRR0H = (unsigned char)(ubrr >> 8);
  UBRR0L = (unsigned char)ubrr;
  
  // Enable receiver and transmitter
  UCSR0B = (1 << RXEN0) | (1 << TXEN0);
  
  // Set frame format: 8 data bits, 1 stop bit
  UCSR0C = (1 << UCSZ01) | (1 << UCSZ00);
}

// Function to receive data via USART
unsigned char USART_receive(void) {
  // Wait for data to be received
  while (!(UCSR0A & (1 << RXC0)));
  
  // Get and return received data from buffer
  return UDR0;
}

// Function to transmit data via USART
void USART_transmit(unsigned char data) {
  // Wait for empty transmit buffer
  while (!(UCSR0A & (1 << UDRE0)));
  
  // Put data into buffer, sends the data
  UDR0 = data;
}

// Print a string over USART
void printString(const char* str) {
    while (*str) {
        USART_transmit(*str);
        str++;
    }
}

    // Function to print a number over USART (convert to ASCII)
void printNumber(int num) {
    char buffer[10];
    itoa(num, buffer, 10);  // Convert the number to a string (decimal format)
    printString(buffer);    // Print the string over USART
}


// Main loop
void loop() {
  // Read the state of the toggle switch
    bool switchState = !(PINH & (1 << TOGGLE_SWITCH_PIN)); // Reads pin 7 (inverts logic for pull-up)

    // Check the state of the toggle switch
    if (switchState) { // Mode 1: Switch is ON (connected to ground)
        printString("Mode 1: Switch is ON\r\n");
  char key = keypad.getKey();  // Read the key pressed

  if (key) {  // If a key is pressed
  
    USART_transmit(key);  // Send the key over USART
    
    // Perform actions based on the key pressed
    switch (key) {
      case '1':
        setNeutralExpression();  // Show neutral expression
        break;
      case '2':
        setHappyExpression();    // Show happy expression
        break;
      case '3':
        setSadExpression();      // Show sad expression
        break;
      case '4':
        setAngryExpression();    // Show angry expression
        break;
      case '5':
        setSurprisedExpression(); // Show surprised expression
        break;
      default:
        break;  // No action for other keys
    }
  }
}   
    else { // Mode 2: Switch is OFF (not connected to ground, pulled HIGH)
         
        
        // Handle microphone input in Mode 2
        static int noSoundCounter = 0;  // Counter for no sound detected
        static bool isEmotionActive = false;
        

        // Read microphone input
        int micValue = readMicrophone();  // Read the value from the microphone
        printString("Microphone ADC Value: ");
        printNumber(micValue);  // Send the ADC value to the serial monitor
        printString("\r\n");

        if (micValue < LOW_THRESHOLD) {  // Low-volume sound detected
         noSoundCounter++;

         // If no sound detected for specific intervals, change expressions
            if (noSoundCounter == 3) {  // After 5 seconds
                setNeutralExpression();
                isEmotionActive = false;
            } 

            else if (noSoundCounter == 5) {  // After 8 seconds
                setSadExpression();
                isEmotionActive = false;
            } 

            else if (noSoundCounter == 6) {  // After 14 seconds
                setAngryExpression();
                isEmotionActive = false;
            }


        if (micValue > LOW_THRESHOLD) {  // Low-volume sound detected
            if (!isEmotionActive) {
                setHappyExpression();
                isEmotionActive = true;  // Set flag to indicate an emotion is active
                noSoundCounter = 0;  // Reset no sound counter
            }
        } 

        else if (micValue > HIGH_THRESHOLD) {  // High-volume sound detected
            if (!isEmotionActive) {
                setSurprisedExpression();
                isEmotionActive = true;  // Set flag to indicate an emotion is active
                noSoundCounter = 0;  // Reset no sound counter
            }
        } 


        // Small delay to prevent constant polling
        _delay_ms(100);
    }

    // Add a small delay to avoid spamming the serial monitor in both modes
    _delay_ms(500);

}

}