// Date: 19.12.2024
// Changes: -
// Version: 01

// initialize the Button
#include <Button.h>
Button button1(4);
#define stepsPerRevolution 200
const int stepDelay = 4000;
const int buttonPin = 4;
int oldValue = HIGH; // default/idle value for pin 4 is high.

// initialize the Stepper Modul A4988
#define dirPin 2
#define stepPin 3
#define dirPin2 5
#define stepPin2 6

// initialize the LCD-Display
#include <LiquidCrystal.h>

// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 10, d5 = 9, d6 = 8, d7 = 7;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);

// initialize important variables
int M1_current_position = 0;
int M1_soll_position = 0;

int Time_Start = 0;
int Time_End = 0;
int Time = 0;

void setup() 
{
  // Setup LCD-Display
  lcd.begin(16, 2);             // set up the LCD's number of columns and rows:
  lcd.print("Hello World!");    // Print a message to the LCD.

  delay(2000);                  // Set delay to 1 Seconde

  lcd.clear();                  // Clear the LCD-Display

  //Setup Motor1 & Motor2
  // Declare pins as output:
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT); 
  pinMode(stepPin2, OUTPUT);
  pinMode(dirPin2, OUTPUT); 

  // Initialize the pin for reading the button.
  pinMode(buttonPin, INPUT_PULLUP);
  
  button1.begin();
}

void loop() 
{
  Display_Time();
  
  Button_Time();

 if(M1_soll_position!=0) 
 {
  Motor2_Pull_back();
  Motor1_Change_position();
  Motor2_Pull_forwad();
 }


  
}

void Display_Time()
{
  lcd.setCursor(0, 0);
  lcd.print("Time:");

  lcd.setCursor(11, 0);
  lcd.print("Pos.:");
  
  if(M1_current_position==200) 
  {
    M1_current_position=0;
    lcd.clear();
  }

  lcd.setCursor(11, 1);
  lcd.print(M1_current_position);
}

void Button_Time()
{
  int newValue = digitalRead(buttonPin);

    if(newValue != oldValue)    // Check if the value was changed, by comparing it with the previous value.
    {
      if(newValue == LOW)
      {
        Time_Start = millis()/1000;
      }

      else
      {
        Time_End = millis()/1000;

        Time = Time_End - Time_Start;

        lcd.setCursor(0, 1);
        lcd.print(Time);

        if(Time == 3) {M1_soll_position=1;}
        if(Time == 4) {M1_soll_position=2;}
        if(Time == 5) {M1_soll_position=3;}
        if(Time == 6) {M1_soll_position=4;}
        
      }
      // Remember the value for the next time.
      oldValue = newValue;
    
  }
  // Slow down the sketch.
  // Also for debouncing the button.
  delay(100);
}

// Motor für die Auswahl der Richtung (Gerade, Rechts, Zurück und Links)
void Motor1_Change_position()
{
  int Soll = 50*M1_soll_position;
  int Steps_Schleife = 0;
    
  if(Soll<M1_current_position)
  {
    // Set the spinning direction clockwise:
    digitalWrite(dirPin, LOW);

    Steps_Schleife = M1_current_position - Soll;
    
    for (int i = 0; i < Steps_Schleife; i++) 
    {
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(stepDelay);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(stepDelay);

      M1_current_position--;
    }
  }

  if(Soll>M1_current_position)
  {
    // Set the spinning direction clockwise:
    digitalWrite(dirPin, HIGH);

    Steps_Schleife = Soll - M1_current_position;
    
    for (int i = 0; i < Steps_Schleife; i++) 
    {
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(stepDelay);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(stepDelay);

      M1_current_position++;
    }
  }

  M1_soll_position = 0;
  delay(500);
}

void Motor2_Pull_back()
{
  // Set the spinning direction clockwise:
  digitalWrite(dirPin2, LOW);

  for (int i = 0; i < 600; i++) 
  {
    digitalWrite(stepPin2, HIGH);
    delayMicroseconds(stepDelay);
    digitalWrite(stepPin2, LOW);
    delayMicroseconds(stepDelay);
  }

  delay(500);
}

void Motor2_Pull_forwad()
{
  // Set the spinning direction clockwise:
  digitalWrite(dirPin2, HIGH);

  for (int i = 0; i < 600; i++) 
  {
    digitalWrite(stepPin2, HIGH);
    delayMicroseconds(stepDelay);
    digitalWrite(stepPin2, LOW);
    delayMicroseconds(stepDelay);
  }

  delay(500);
}