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

// Define stepper motor parameters
const int stepsPerRevolution = 200;  // Adjust based on your stepper motors

// azimuthStepper pins
const int stepPin1 = 5;
const int dirPin1 = 6;

// elevationStepper pins
const int stepPin2 = 3;
const int dirPin2 = 4;

// LDR pins
const int ldrTopLeftPin = A0;
const int ldrTopRightPin = A1;
const int ldrBottomLeftPin = A2;
const int ldrBottomRightPin = A3;

// Voltage and current sensor pins
const int voltagePin = A4;
const int currentPin = A5;

// Threshold for LDR difference to trigger movement
const int threshold = 25;  // Adjust for sensitivity

// Create stepper objects
Stepper azimuthStepper(stepsPerRevolution, stepPin1, dirPin1);
Stepper elevationStepper(stepsPerRevolution, stepPin2, dirPin2);

// LCD object
LiquidCrystal_I2C lcd(0x27, 16, 2);  // I2C address 0x27, 16 columns, 2 rows

void setup() {
  // Set initial stepper speeds
  azimuthStepper.setSpeed(200);
  elevationStepper.setSpeed(200);

  // Start serial communication for debugging
  Serial.begin(9600);

  // Initialize the LCD
  lcd.init();
  lcd.backlight();
  lcd.setCursor(0, 0);
  lcd.print("System Ready");
  delay(2000);
  lcd.clear();
}

void displayVoltageAndCurrent() {
  float voltage = analogRead(voltagePin) * (0.5 / 1023.0) * 35;  // Adjust based on your sensor
  float current = analogRead(currentPin) * (1.0 / 1023.0) * 0.639;  // Adjust based on your sensor

  lcd.setCursor(0, 0);
  lcd.print("Voltage: ");
  lcd.print(voltage, 2);
  lcd.print("V ");

  lcd.setCursor(0, 1);
  lcd.print("Current: ");
  lcd.print(current, 3);
  lcd.print("A ");
}

void loop() {
  // Read LDR values
  int ldrTopLeft = analogRead(ldrTopLeftPin);
  int ldrTopRight = analogRead(ldrTopRightPin);
  int ldrBottomLeft = analogRead(ldrBottomLeftPin);
  int ldrBottomRight = analogRead(ldrBottomRightPin);

  // Calculate differences
  int horizontalDifference = ldrTopLeft + ldrBottomLeft - ldrTopRight - ldrBottomRight;
  int verticalDifference = ldrTopLeft + ldrTopRight - ldrBottomLeft - ldrBottomRight;

  // LDR-based tracking
  if (ldrTopLeft < 500 && ldrTopRight < 500 && ldrBottomLeft < 500 && ldrBottomRight < 500) {
    if (horizontalDifference > threshold) {
      azimuthStepper.step(1);
    } else if (horizontalDifference < -threshold) {
      azimuthStepper.step(-1);
    }

    if (verticalDifference > threshold) {
      elevationStepper.step(1);
    } else if (verticalDifference < -threshold) {
      elevationStepper.step(-1);
    }
  }

  // Display voltage and current
  displayVoltageAndCurrent();

  delay(1000);  // Delay between tracking updates
}