// Learn about the ESP32 WiFi simulation in
// https://docs.wokwi.com/guides/esp32-wifi


#include <Wire.h>
#include <Wire.h>
#include <hd44780.h>
#include <hd44780ioClass/hd44780_I2Cexp.h>
#include <AccelStepper.h>

// LCD-Objekt
hd44780_I2Cexp lcd;

// Encoder-Pins
#define CLK  13
#define DT   14
#define SW   12

AccelStepper Xaxis(1, 17, 16); // pin 3 = step, pin 6 = direction
#define EN  12

int selectedMotor = 0;  // Aktuell gewählter Motor (M1–M6)
float motorSpeed[6] = {0, 0, 0, 0, 0, 0};  // Drehzahl für M1–M6 (0–255)
bool motorState[6] = {false, false, false, false, false, false};  // Motor an/aus

int lastStateCLK;

void setup() {
    Serial.begin(115200);
    Wire.begin(21, 22);

    // LCD initialisieren
    lcd.begin(16, 2);
    lcd.backlight();
    lcd.clear();

    // Encoder-Pins als Eingänge setzen
    pinMode(CLK, INPUT_PULLUP);
    pinMode(DT, INPUT_PULLUP);
    pinMode(SW, INPUT_PULLUP);

    lastStateCLK = digitalRead(CLK);

    lcd.setCursor(0, 0);
    lcd.print("Motor 1:");
    updateLCD();

    Xaxis.setMaxSpeed(400*200);
    Xaxis.setSpeed(motorSpeed[selectedMotor]);
}

void loop() {
  
  Xaxis.runSpeed();
    int stateCLK = digitalRead(CLK);

    // Prüfen, ob sich der Encoder bewegt hat
    if (stateCLK != lastStateCLK) {
        if (digitalRead(DT) != stateCLK) {
            motorSpeed[selectedMotor] += 0.05;
            if (motorSpeed[selectedMotor] > 255) motorSpeed[selectedMotor] = 255;  // Begrenzung
        } else {
            motorSpeed[selectedMotor] -= 0.05;
            if (motorSpeed[selectedMotor] < 0) motorSpeed[selectedMotor] = 0;  // Begrenzung
        }

        Serial.print("M");
        Serial.print(selectedMotor + 1);
        Serial.print(" Speed: ");
        Serial.println(motorSpeed[selectedMotor]);
        Xaxis.setSpeed(motorSpeed[selectedMotor]*200);

        updateLCD();
    }

    lastStateCLK = stateCLK;

    // Prüfen, ob der Knopf gedrückt wurde
    if (digitalRead(SW) == LOW) {
        delay(200);  // Entprellen

        if (motorSpeed[selectedMotor] == 0) {  
            // Falls Drehzahl 0 ist, wechsel zum nächsten Motor
            selectedMotor = (selectedMotor + 1) % 6;
            Serial.print("Wechsle zu Motor ");
            Serial.println(selectedMotor + 1);
        } else {
            // Motor toggeln (an/aus)
            motorState[selectedMotor] = !motorState[selectedMotor];
            Serial.print("Motor ");
            Serial.print(selectedMotor + 1);
            Serial.print(motorState[selectedMotor] ? " EIN" : " AUS");
            Serial.println();
        }

        updateLCD();
    }
}

void updateLCD() {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("M");
    lcd.print(selectedMotor + 1);
    lcd.print(": ");
    lcd.print(motorSpeed[selectedMotor]);

    lcd.setCursor(0, 1);
    lcd.print(motorState[selectedMotor] ? "AN " : "AUS");
}