#include <LiquidCrystal.h>
#include <Servo.h>

// LCD Pins: RS, EN, D4, D5, D6, D7
LiquidCrystal lcd(11, 12, A1, A2, A3, A4);
Servo servo;

const int stepPin = 4;
const int dirPin = 3;
const int enPin = 5;
const int buttonPins[] = {7, 8, 9, 10};
const int potPin = A0;
const int ledPin = 2;

int motorMode = 0; // 0: Stepper, 1: Servo
bool motorActive = false;

void setup() {
  lcd.begin(16, 2);
  lcd.clear();
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(enPin, OUTPUT);
  pinMode(ledPin, OUTPUT);
  servo.attach(6);
  servo.write(0); // Servo position at startup

  for (int pin : buttonPins) {
    pinMode(pin, INPUT_PULLUP);
  }

  lcd.print("System Ready");
}

void loop() {
  int potValue = analogRead(potPin);
  displayPotValue(potValue);

  // Check buttons
  if (isButtonPressed(buttonPins[0])) { // Button 1
    moveMotor(HIGH, 90);
  } else if (isButtonPressed(buttonPins[1])) { // Button 2
    moveMotor(LOW, 0);
  } else if (isButtonPressed(buttonPins[2])) { // Button 3
    motorMode = 0;
    updateModeDisplay("Stepper");
  } else if (isButtonPressed(buttonPins[3])) { // Button 4
    motorMode = 1;
    updateModeDisplay("Servo");
  } else {
    motorActive = false;
  }

  digitalWrite(ledPin, motorActive ? HIGH : LOW);
}

void displayPotValue(int potValue) {
  lcd.setCursor(0, 0);
  lcd.print("Pot: ");
  lcd.print(map(potValue, 0, 1023, 0, 100));
  lcd.print("    "); // Clear trailing characters
}

bool isButtonPressed(int pin) {
  if (digitalRead(pin) == LOW) {
    delay(50); // Debounce delay
    return digitalRead(pin) == LOW;
  }
  return false;
}

void moveMotor(int direction, int servoAngle) {
  if (motorMode == 0) {
    digitalWrite(dirPin, direction);
    stepMotor();
  } else {
    servo.write(servoAngle);
  }
  motorActive = true;
}

void stepMotor() {
  int potValue = analogRead(potPin);
  int delayTime = map(potValue, 0, 1023, 1000, 200);
  digitalWrite(enPin, LOW);
  digitalWrite(stepPin, HIGH);
  delayMicroseconds(delayTime);
  digitalWrite(stepPin, LOW);
  delayMicroseconds(delayTime);
}

void updateModeDisplay(const char* mode) {
  lcd.setCursor(0, 1);
  lcd.print("Mode: ");
  lcd.print(mode);
  lcd.print("     ");
}