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

#define STEP_PIN 3
#define DIR_PIN 4
#define JOY_Y_PIN A0
#define SERVO_PIN 5
LiquidCrystal_I2C lcd(0x27, 16, 2);

AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);
Servo myServo;

const int threshold = 150;
int yCenter;
bool waitingForNeutral = false;
bool runningDown = false;
unsigned long runStart = 0;
int downPressCount = 0;
int servoAngle = 0;
const int maxStepperMillis = 5000;  // 5 seconds max

void setup() {
  stepper.setMaxSpeed(500);
  stepper.setSpeed(200);
  myServo.attach(SERVO_PIN);
  myServo.write(0);
  delay(500);
  yCenter = analogRead(JOY_Y_PIN);
  lcd.init();
lcd.backlight();
lcd.setCursor(0, 0);
lcd.print("Stepper/Servo Demo");
lcd.setCursor(0, 1);
lcd.print("Waiting...");

}

void loop() {
  
  int joyY = analogRead(JOY_Y_PIN);

  // UP pressed: Reset/homing
  if (!waitingForNeutral && (joyY > yCenter + threshold)) {
    runningDown = false;
    downPressCount = 0;
    servoAngle = 0;
    myServo.write(0);
    waitingForNeutral = true;
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Home: Srv=0 S=Stop");
    lcd.setCursor(0, 1);
    lcd.print("Press DOWN...");
  }

  // DOWN pressed: Start stepper timing if allowed
  if (!waitingForNeutral && (joyY < yCenter - threshold) && downPressCount < 2) {
    if (!runningDown) {
      runningDown = true;
      runStart = millis();
      waitingForNeutral = true; // Wait for release before next press
      lcd.setCursor(0, 0);
      lcd.print("DOWN: Stepper Run  ");
      lcd.setCursor(0, 1);
      lcd.print("Srv:");
      lcd.print(servoAngle);
      lcd.print(" Cnt:");
      lcd.print(downPressCount);
    }
  }

  // Wait for joystick return to neutral
  if (waitingForNeutral && abs(joyY - yCenter) < threshold / 2) {
    waitingForNeutral = false;
  }

  // While joystick DOWN pressed and runningDown active
  if (runningDown) {
    // Only run stepper if joystick still held DOWN
    if (joyY < yCenter - threshold) {
      stepper.runSpeed();
      // Check max duration
      if (millis() - runStart >= maxStepperMillis) {
        runningDown = false;
        downPressCount++;
        servoAngle += 90;
        if (servoAngle > 180) servoAngle = 180;
        myServo.write(servoAngle);
         lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("RunDone: Srv=");
  lcd.print(servoAngle);
  lcd.setCursor(0, 1);
  if (downPressCount < 2)
    lcd.print("Next DOWN run...");
  else
    lcd.print("Max. Press UP.");
      }
    } else {
      // Joystick released early, stop without progressing sequence
      runningDown = false;

    }
  }
}