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

// Define the step and direction pins  
#define STEP_PIN 2  
#define DIR_PIN 3  
#define MOVE_PIN 52  // Built-in LED on most Arduino boards  
#define LCD_ADDRESS 0x27  

// Define the number of columns and rows of the LCD display  
#define LCD_COLUMNS 16  
#define LCD_ROWS 2  

// Create a new instance of the AccelStepper class  
AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);  

// Create a new instance of the LiquidCrystal_I2C class  
LiquidCrystal_I2C lcd(LCD_ADDRESS, LCD_COLUMNS, LCD_ROWS);  

// Define the button pins  
const int buttonPins[] = {4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};  

// Define the LED pins  
const int ledPins[] = {A0, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11};  

// Define the positions  
const long positions[] = {0, 400, 800, 100, 120, 1400, 160, 180, 200, 1570};  

// Define the set points for each position  
const long setPoints[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10};  

// Define the button pin for resetting the stepper motor count  
#define RESET_PIN 16  

void setup() {  
  // Set the maximum speed and acceleration  
  stepper.setMaxSpeed(2000.0);  
  stepper.setAcceleration(600.0);  

  // Set the button pins as input and LED pins as output  
  for (int i = 0; i < 12; i++) {  
    pinMode(buttonPins[i], INPUT_PULLUP);  
    pinMode(ledPins[i], OUTPUT);  
  }  

  // Set the LED pin for move indication as output  
  pinMode(MOVE_PIN, OUTPUT);  

  // Initialize the LCD display  
  lcd.init();  
  lcd.backlight();  
  lcd.clear();  
}  

void loop() {  
  // Check for button presses  
  for (int i = 0; i < 12; i++) {  
    if (digitalRead(buttonPins[i]) == LOW) {  
      // Turn on the corresponding LED and move to the specified position  
      digitalWrite(ledPins[i], HIGH);  
      stepper.moveTo(positions[i]);  
      digitalWrite(MOVE_PIN, HIGH);  
      stepper.runToPosition();  
      delay(100);  
      
      // Turn off all other LEDs  
      for (int j = 0; j < 12; j++) {  
        if (j != i) {  
          digitalWrite(ledPins[j], LOW);  
        }  
      }  

      // Update the LCD display  
      lcd.setCursor(0, 0);  
      lcd.print("Position:    ");  
      lcd.setCursor(9, 0);  
      lcd.print(positions[i]);  

      lcd.setCursor(0, 1);  
      lcd.print("Yard:        ");  
      lcd.setCursor(6, 1);  
      lcd.print(setPoints[i]);  

      // Check for even or odd button press  
      if (i % 2 == 0) { // Even button  
        digitalWrite(50, HIGH); // Turn on LED 50  
        digitalWrite(51, LOW);  // Ensure LED 51 is off  
      } else { // Odd button  
        digitalWrite(51, HIGH); // Turn on LED 51  
        digitalWrite(50, LOW);  // Ensure LED 50 is off  
      }  
    } else {  
      // Turn off the corresponding LED if the button is not pressed  
      digitalWrite(ledPins[i], LOW);  
    }  
  }  

  // Control motor movement with buttons 14 and 15  
  if (digitalRead(buttonPins[10]) == LOW) {  
    stepper.setSpeed(100);  
    stepper.runSpeed();  
  } else if (digitalRead(buttonPins[11]) == LOW) {  
    stepper.setSpeed(-100);  
    stepper.runSpeed();  
  } else {  
    stepper.stop();  
  }  

  // Check for reset button press  
  if (digitalRead(RESET_PIN) == LOW) {  
    stepper.setCurrentPosition(0);  
    stepper.stop();  
    lcd.clear();  
  }  
}