#include <LiquidCrystal_I2C.h>
#include <Stepper.h>

LiquidCrystal_I2C lcd(0x27, 16, 2);

const int stepsPerRevolution = 200; 
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11); 

const int rgbPinR = 3;
const int rgbPinG = 5;
const int rgbPinB = 6;
const int buzzerPin = 4;
int currentDistance = 0; 
int stepsMade = 0; 
String systemState = "READY"; 

void setup() {
  myStepper.setSpeed(60);
  Serial.begin(9600);
  
  pinMode(rgbPinR, OUTPUT);
  pinMode(rgbPinG, OUTPUT);
  pinMode(rgbPinB, OUTPUT);

  pinMode(buzzerPin, OUTPUT);
  
  lcd.begin(16, 2); 
  lcd.backlight(); 
  
  // Начальное состояние
  digitalWrite(rgbPinG, HIGH); 
  digitalWrite(rgbPinR, LOW);
  digitalWrite(rgbPinB, LOW);
  
  updateDisplay();
}

void loop() {
  systemState = "MOVING"; 
  updateDisplay();

  myStepper.step(stepsPerRevolution); 
  stepsMade += stepsPerRevolution; 

  currentDistance += 10; 
  
  delay(1000); 
  
  tone(buzzerPin, 1000); 
  delay(500);
  noTone(buzzerPin); 
  
  digitalWrite(rgbPinG, LOW);
  digitalWrite(rgbPinR, HIGH);
  delay(1000); 
  
  digitalWrite(rgbPinR, LOW);
  digitalWrite(rgbPinB, HIGH); 
  delay(1000);
  
  digitalWrite(rgbPinB, LOW); 
  digitalWrite(rgbPinG, HIGH);

  systemState = "READY"; 
  updateDisplay();
}

void updateDisplay() {
  lcd.clear();
  lcd.setCursor(0, 0);

  lcd.print("Dist: ");
  lcd.print(currentDistance);
  lcd.print(" cm");
  
  lcd.setCursor(0, 1);
  
  lcd.print("Steps: ");
  lcd.print(stepsMade);
  
  lcd.setCursor(10, 1);
  
  lcd.print(systemState); 
}