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

// Define pins
#define STEP_PIN 8
#define DIR_PIN 9
#define FORWARD_BTN 6
#define BACKWARD_BTN 7
#define RESET_BTN 10
#define FORWARD_LED 4
#define BACKWARD_LED 5
#define RESET_LED 3

// Motor parameters
const float MAX_SPEED = 800.0;
const float ACCELERATION = 400.0;

// Create instances
AccelStepper stepper(1, STEP_PIN, DIR_PIN);
LiquidCrystal_I2C lcd(0x27, 16, 2);

// Variables
bool lastForwardState = HIGH;
bool lastBackwardState = HIGH;

void setup() {
  // Initialize stepper
  stepper.setMaxSpeed(MAX_SPEED);
  stepper.setAcceleration(ACCELERATION);
  
  // Initialize LCD
  lcd.init();
  lcd.backlight();
  
  // Setup pins
  pinMode(FORWARD_BTN, INPUT_PULLUP);
  pinMode(BACKWARD_BTN, INPUT_PULLUP);
  pinMode(RESET_BTN, INPUT_PULLUP);
  pinMode(FORWARD_LED, OUTPUT);
  pinMode(BACKWARD_LED, OUTPUT);
  pinMode(RESET_LED, OUTPUT);
  
  // Initial display
  updateDisplay();
}

void loop() {
  // Read buttons
  bool currentForwardState = digitalRead(FORWARD_BTN);
  bool currentBackwardState = digitalRead(BACKWARD_BTN);
  bool resetState = digitalRead(RESET_BTN);
  
  // Handle reset
  if (resetState == LOW) {
    resetMotor();
    delay(200);  // Simple debounce
    return;
  }
  
  // Handle forward movement
  if (currentForwardState == LOW) {
    digitalWrite(FORWARD_LED, HIGH);
    digitalWrite(BACKWARD_LED, LOW);
    moveForward();
    updateDisplay();
  }
  // Handle backward movement
  else if (currentBackwardState == LOW) {
    digitalWrite(FORWARD_LED, LOW);
    digitalWrite(BACKWARD_LED, HIGH);
    moveBackward();
    updateDisplay();
  }
  // Handle stop
  else {
    if (lastForwardState == LOW || lastBackwardState == LOW) {
      digitalWrite(FORWARD_LED, LOW);
      digitalWrite(BACKWARD_LED, LOW);
      updateDisplay();
    }
    stepper.stop();
  }
  
  // Update button states
  lastForwardState = currentForwardState;
  lastBackwardState = currentBackwardState;
}

void moveForward() {
  stepper.setSpeed(MAX_SPEED);
  stepper.runSpeed();
}

void moveBackward() {
  stepper.setSpeed(-MAX_SPEED);
  stepper.runSpeed();
}

void resetMotor() {
  // Visual indication
  digitalWrite(RESET_LED, HIGH);
  
  // Stop the motor
  stepper.stop();
  // Reset position to zero
  stepper.setCurrentPosition(0);
  
  // Display reset message
  lcd.clear();
  lcd.print("Reset");
  delay(500);
  
  // Turn off reset LED
  digitalWrite(RESET_LED, LOW);
  
  // Update display
  updateDisplay();
}

void updateDisplay() {
  lcd.clear();
  
  // Display position from stepper
  lcd.setCursor(0, 0);
  lcd.print("Pos: ");
  lcd.print(stepper.currentPosition());
  
  // Display blank second line
  lcd.setCursor(0, 1);
  lcd.print("Steps: ");
  lcd.print(abs(stepper.currentPosition()));
}