#include <LiquidCrystal.h>

const int motorPin = 9; // Motor control pin
const int potPin = A0; // Potentiometer pin for throttle
const int speedPotPin = A2; // Potentiometer pin for scroll speed
const int trigPin1 = 10; // Ultrasonic sensor 1 trigger pin
const int echoPin1 = 13; // Ultrasonic sensor 1 echo pin
const int trigPin2 = 8; // Ultrasonic sensor 2 trigger pin
const int echoPin2 = 7; // Ultrasonic sensor 2 echo pin
const int alcoholPin = A1; // Alcohol sensor pin
const int buzzerPin1 = 6; // Buzzer for collision warning
const int buzzerPin2 = 5; // Buzzer for alcohol detection

LiquidCrystal lcd(12, 11, 5, 4, 3, 2); // Initialize the LCD

const int maxScrollSpeed = 200; // Fastest scroll speed in milliseconds
const int minScrollSpeed = 50; // Slowest scroll speed in milliseconds
const int scrollLength = 16; // Length of the LCD display

String message = ""; // Message to display
int scrollPosition = 0; // Position for scrolling
unsigned long previousMillis = 0; // Store last time message was updated

enum State {THROTTLE, READY, NOT_READY, COLLISION, ALCOHOL};
State currentState = THROTTLE;

void setup() {
    pinMode(motorPin, OUTPUT);
    pinMode(trigPin1, OUTPUT);
    pinMode(echoPin1, INPUT);
    pinMode(trigPin2, OUTPUT);
    pinMode(echoPin2, INPUT);
    pinMode(alcoholPin, INPUT);
    pinMode(buzzerPin1, OUTPUT);
    pinMode(buzzerPin2, OUTPUT);
    lcd.begin(16, 2);
    Serial.begin(9600);
}

void loop() {
    long distance1 = getDistance(trigPin1, echoPin1);
    long distance2 = getDistance(trigPin2, echoPin2);
    int potValue = analogRead(potPin);
    int alcoholValue = analogRead(alcoholPin);
    int speedPotValue = analogRead(speedPotPin); // Read scroll speed potentiometer

    // Display potentiometer value
    lcd.setCursor(0, 0);
    lcd.print("Throttle: ");
    lcd.print(map(potValue, 0, 1023, 0, 100));
    lcd.print("%   "); // Added spaces to clear previous text

    // Initialize motor state
    int motorSpeed = map(potValue, 0, 1023, 0, 255);
    bool isCollision = (distance2 < 50);
    bool isAlcoholDetected = (alcoholValue > 400);

    // Check for position detection
    if (distance1 < 20) { // Object detected within 20 cm
        currentState = READY;
        if (!isCollision && !isAlcoholDetected) {
            analogWrite(motorPin, motorSpeed); // Control motor speed
            Serial.print("Motor Speed: ");
            Serial.println(motorSpeed); // Debug: Show motor speed
        } else {
            analogWrite(motorPin, 0); // Turn off motor
            Serial.println("Motor OFF: Collision or Alcohol Detected"); // Debug
        }
    } else {
        currentState = NOT_READY;
        analogWrite(motorPin, 0); // Turn off motor
        Serial.println("Motor OFF: Not Ready"); // Debug
    }

    // Prepare the message to display
    message = "";
    if (currentState == READY) {
        message += "Ready       ";
    } else if (currentState == NOT_READY) {
        message += "Not Ready   ";
    }

    if (isCollision) {
        digitalWrite(buzzerPin1, HIGH);
        message += "Collision   ";
    } else {
        digitalWrite(buzzerPin1, LOW);
    }

    /*if (isAlcoholDetected) {
        digitalWrite(buzzerPin2, HIGH);
        message += "Alcohol     ";
    } else {
        digitalWrite(buzzerPin2, LOW);
    }*/

    // Update the display with scrolling text
    if (millis() - previousMillis >= map(speedPotValue, 0, 1023, maxScrollSpeed, minScrollSpeed)) {
        previousMillis = millis();
        scrollPosition = (scrollPosition + 1) % (message.length() + scrollLength); // Wrap around after the message
    }

    // Clear the second line and display the current scroll position
    lcd.setCursor(0, 1);
    lcd.print("                "); // Clear the line
    if (scrollPosition < message.length()) {
        lcd.setCursor(0, 1);
        lcd.print(message.substring(scrollPosition));
    } else {
        lcd.setCursor(0, 1);
        lcd.print("                "); // Clear line if out of bounds
        lcd.setCursor(scrollLength - scrollPosition + message.length(), 1); // Start scrolling in reverse
        lcd.print(message.substring(0, scrollPosition - message.length()));
    }

    delay(100); // Short delay for loop
}

long getDistance(int trigPin, int echoPin) {
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    long duration = pulseIn(echoPin, HIGH);
    return duration * 0.034 / 2; // Convert to cm
}