#include <LiquidCrystal.h>
#include <Servo.h>

// Pin Definitions 
#define JOY_X PA0    // X-axis (Analog)
#define JOY_Y PA1    // Y-axis (Analog)
#define JOY_SW PA2   // Joystick Button (Digital Input Pull-down)
#define LED_PIN PC13 // Built-in LED
#define SERVO_PIN PB6 // Proper PWM-capable pin (TIM4_CH1)
#define LCD_RS PB10
#define LCD_EN PB11
#define LCD_D4 PB12
#define LCD_D5 PB13
#define LCD_D6 PB14
#define LCD_D7 PB15

// Objects
Servo myServo;
LiquidCrystal lcd(LCD_RS, LCD_EN, LCD_D4, LCD_D5, LCD_D6, LCD_D7);

// Variables
bool ledState = false;
bool lastButtonState = HIGH;
unsigned long lastDebounceTime = 0;
const unsigned long debounceDelay = 50;

void setup() {
  // Initialize serial for debugging
  Serial.begin(9600);
  
  // Initialize pins
  pinMode(JOY_SW, INPUT_PULLDOWN);
  pinMode(LED_PIN, OUTPUT);
  
  // Initialize servo (using proper PWM pin)
  myServo.attach(SERVO_PIN);
  myServo.write(90); // Center position
  
  // Initialize LCD
  lcd.begin(16, 2);
  lcd.print("System Ready");
  delay(1000);
  lcd.clear();
}

void loop() {
  // Read inputs
  int xVal = analogRead(JOY_X);
  int yVal = analogRead(JOY_Y);
  bool buttonState = digitalRead(JOY_SW);
  
  // Map joystick X to servo angle (0-180°)
  int angle = map(xVal, 0, 4095, 0, 180);
  myServo.write(angle); // Direct position setting
  
  // Button debounce and LED toggle
  if (buttonState != lastButtonState) {
    lastDebounceTime = millis();
  }
  
  if ((millis() - lastDebounceTime) > debounceDelay) {
    if (buttonState == HIGH && lastButtonState == LOW) {
      ledState = !ledState;
      digitalWrite(LED_PIN, ledState);
    }
  }
  lastButtonState = buttonState;
  
  // Update LCD display (optimized to minimize flicker)
  static unsigned long lastUpdate = 0;
  if (millis() - lastUpdate > 200) { // Update every 200ms
    lcd.setCursor(0, 0);
    lcd.print("X:");
    lcd.print(xVal);
    lcd.print(" Y:");
    lcd.print(yVal);
    lcd.print("    "); // Clear remaining characters
    
    lcd.setCursor(0, 1);
    lcd.print("S:");
    lcd.print(angle);
    lcd.print((char)223); // Degree symbol
    lcd.print(" L:");
    lcd.print(ledState ? "ON " : "OFF");
    lcd.print("    ");
    
    lastUpdate = millis();
  }
  
  delay(10); // Small delay for stability
}