// =============================================================
// Mesin jahit Shuttlecock Otomatis
// Maju Teknik art
// Versi 1.0a - fitur :  Tinggal Start mulai, lcd tidak dipakai 
// Dibuat oleh [Eko Andriyanto] - [09 April 2025 / V 1.0a]
// =============================================================


#include <AccelStepper.h>
#include <LiquidCrystal_I2C.h>

// === Inisialisasi LCD ===
LiquidCrystal_I2C lcd(0x27, 16, 2);

// === Pin Stepper Motor ===
#define DIR_A 11
#define STEP_A 12
#define DIR_B 8
#define STEP_B 9

AccelStepper motorA(AccelStepper::DRIVER, STEP_A, DIR_A);
AccelStepper motorB(AccelStepper::DRIVER, STEP_B, DIR_B);

// === Pin Tombol, Potensiometer, Relay, dan Buzzer ===
#define START_BUTTON A1
#define RESET_BUTTON A2
#define POT_PIN A0
#define RELAY_PIN 10
#define BUZZER_PIN 7

// === Pin Microstepping A4988 ===
#define MS1 5
#define MS2 6
#define MS3 4

#define STEPS_PER_REV 1600  // Satu putaran penuh stepper motor A

// === Variabel Global ===
bool running = false;
unsigned long lastStartDebounce = 0;
unsigned long lastResetDebounce = 0;
int kokCount = 0;

void setup() {
  // Setup pin
  pinMode(START_BUTTON, INPUT_PULLUP);
  pinMode(RESET_BUTTON, INPUT_PULLUP);
  pinMode(RELAY_PIN, OUTPUT);
  pinMode(BUZZER_PIN, OUTPUT);

  // Setup microstepping driver A4988
  pinMode(MS1, OUTPUT);
  pinMode(MS2, OUTPUT);
  pinMode(MS3, OUTPUT);
  digitalWrite(MS1, LOW);
  digitalWrite(MS2, HIGH);
  digitalWrite(MS3, LOW);

  // Setup motor
  motorA.setMaxSpeed(1000);
  motorA.setAcceleration(500);
  motorB.setMaxSpeed(12000);
  motorB.setAcceleration(6000);

  // Setup LCD
  lcd.init();
  lcd.backlight();
  showInitial();
}

void loop() {
  // Tombol START ditekan
  if (digitalRead(START_BUTTON) == LOW && millis() - lastStartDebounce > 300) {
    lastStartDebounce = millis();
    running = true;
    runSequence();
  }

  // Tombol RESET ditekan
  if (digitalRead(RESET_BUTTON) == LOW && millis() - lastResetDebounce > 300) {
    lastResetDebounce = millis();
    kokCount = 0;
    showStatus("Reset", kokCount);
    delay(1000); // Tampilkan sebentar status reset
    showInitial();
  }
}

// === Prosedur utama menjalankan urutan tancap bulu ===
void runSequence() {
  motorA.setCurrentPosition(0);
  motorB.setCurrentPosition(0);

  showStatus("Running", kokCount);

  digitalWrite(RELAY_PIN, HIGH);
  delay(2000);

  struct Step {
    float angle;
    int stepB;
  };

  Step steps[] = {
    { 0, 1600 }, { 22.5, 3200 }, { 45, 3200 }, { 67.5, 3200 },
    { 90, 3200 }, { 112.5, 3200 }, { 135, 3200 }, { 157.5, 3200 },
    { 180, 3200 }, { 202.5, 3200 }, { 225, 3200 }, { 247.5, 3200 },
    { 270, 3200 }, { 292.5, 3200 }, { 315, 3200 }, { 337.5, 3200 },
    { 360, 1600 }
  };

  for (int i = 0; i < sizeof(steps) / sizeof(steps[0]); i++) {
    moveMotorA(steps[i].angle);
    moveMotorB(steps[i].stepB);
  }

  digitalWrite(RELAY_PIN, LOW);
  beep();

  kokCount++;
  showStatus("Done", kokCount);
}

// === Fungsi Gerakan Motor A Sesuai Sudut ===
void moveMotorA(float angle) {
  int steps = (angle / 360.0) * STEPS_PER_REV;
  motorA.moveTo(steps);
  while (motorA.distanceToGo() != 0) {
    updateSpeed();
    motorA.runSpeed();
  }
}

// === Fungsi Gerakan Motor B ===
void moveMotorB(int steps) {
  motorB.moveTo(motorB.currentPosition() + steps);
  while (motorB.distanceToGo() != 0) {
    updateSpeed();
    motorB.runSpeed();
  }
}

// === Update Kecepatan dari Potensiometer ===
void updateSpeed() {
  int potValue = analogRead(POT_PIN);
  int speed = map(potValue, 0, 1023, 1000, 8000);
  motorA.setSpeed(speed);
  motorB.setSpeed(speed);
}

// === Bunyi Buzzer ===
void beep() {
  for (int i = 0; i < 2; i++) {
    digitalWrite(BUZZER_PIN, HIGH);
    delay(200);
    digitalWrite(BUZZER_PIN, LOW);
    delay(200);
  }
}

// === Tampilkan Status ke LCD ===
void showStatus(String status, int count) {
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print(status);
  lcd.setCursor(0, 1);
  lcd.print("Kok: ");
  lcd.print(count);
}

// === Tampilkan Status Awal ===
void showInitial() {
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Ready");
  lcd.setCursor(0, 1);
  lcd.print("Kok: ");
  lcd.print(kokCount);
}