#include <Stepper.h>

Stepper myStepper(200, 1, 2, 3, 4);
const int stepsPerRevolution = 180;

const int UpButton = 9;
const int DownButton = 8;
const int LeftButton = 7;
const int RightButton = 6;
const int StopButton = 5;

const int fieldSize = 15;
char field[fieldSize][fieldSize];

// Начальные координаты робота
int x = fieldSize / 2;
int y = fieldSize / 2;

void drawField() {
  for (int i = 0; i < fieldSize; i++) {
    for (int j = 0; j < fieldSize; j++) {
      Serial.print(field[i][j]);
      Serial.print(' ');
    }
    Serial.println();
  }
  Serial.println();
}

void control() {
  
  if (digitalRead(UpButton) == LOW) 
  {
    Serial.println("Robot moves forward");
    field[y][x] = '|';  
    y = max(0, y - 1);  
    myStepper.step(stepsPerRevolution / 2);
    field[y][x] = 'R';
    drawField(); 
  } 
  
  else if (digitalRead(DownButton) == LOW) 
  {
    Serial.println("Robot moves backward");
    field[y][x] = '|';  
    y = min(fieldSize - 1, y + 1); 
    myStepper.step(-stepsPerRevolution / 2);
    field[y][x] = 'R';
    drawField();  
  } 
  
  else if (digitalRead(LeftButton) == LOW) 
  {
    Serial.println("Robot moves to the left");
    field[y][x] = '-';  
    x = max(0, x - 1);  
    myStepper.step(stepsPerRevolution / 4);
    field[y][x] = 'R';
    drawField();  
  }

  else if (digitalRead(RightButton) == LOW) 
  {
    Serial.println("Robot moves to the right");
    field[y][x] = '-';  
    x = min(fieldSize - 1, x + 1); 
    myStepper.step(stepsPerRevolution / 4);
    field[y][x] = 'R';
    drawField();  

  }

  else if (digitalRead(StopButton) == LOW) 
  {
    Serial.println("Robot doesn't move");
  }

}

void setup() {
  pinMode(UpButton, INPUT_PULLUP);
  pinMode(DownButton, INPUT_PULLUP);
  pinMode(LeftButton, INPUT_PULLUP);
  pinMode(RightButton, INPUT_PULLUP);
  pinMode(StopButton, INPUT_PULLUP);

  Serial.begin(9600);
  Serial.println("Robot is inactive."); 

  for (int i = 0; i < fieldSize; i++) {
    for (int j = 0; j < fieldSize; j++) {
      field[i][j] = '.';  
    }
  }

  field[y][x] = 'R';
  drawField();  
}

void loop() {
  control();
  delay(500);
}