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

// Configuração do teclado 4x4
const byte ROWS = 4;
const byte COLS = 4;
char keys[ROWS][COLS] = {
 {'1','2','3','A'},
 {'4','5','6','B'},
 {'7','8','9','C'},
 {'.','0','#','D'}
};

byte rowPINS[ROWS] = {11,10,9,8};
byte colPINS[COLS] = {7,6,5,4};

Keypad kpd = Keypad(makeKeymap(keys),rowPINS,colPINS, ROWS, COLS);
LiquidCrystal_I2C lcd(0x27,20,4); 

// Configuração do motor de passo
const int stp = 2;               
const int dir = 3;               
const int StepsPerRotation = 400; 
const int TableRatio = 45;        
const int Multiplier = (StepsPerRotation * TableRatio)/360;  

// --- NOVO: potenciômetro ---
const int potPin = A0;   // pino do potenciômetro
int stepdelay = 500;     // delay inicial em microssegundos

// Variáveis globais
float Degrees = 0;                
float ToMove = 0;                 
float bob = 0;
int cho = 0;

void setup()
{
 lcd.init();     
 pinMode(stp, OUTPUT);
 pinMode(dir, OUTPUT); 
 pinMode(potPin, INPUT);

 lcd.backlight();
 lcd.print("**Divisor Digital**");
 lcd.setCursor(3,3);
 lcd.print("Wagner Koller");
 delay(2000);
 lcd.init();

 cho = 0;
 char key = kpd.getKey();
 lcd.print("        MENU");   
 lcd.setCursor(0,1);
 lcd.print("Graus ------ Tecla A");
 lcd.setCursor(0,2);
 lcd.print("Divisao ---- Tecla B");
 lcd.setCursor(0,3);
 lcd.print("Livre ------ Tecla C");

 while(cho == 0)
 {
   key = kpd.getKey();
   switch (key)
   {
   case NO_KEY:
    break;
   case 'A':
     Degrees=getdegrees();
     lcd.clear();
     cho = 1;
     break; 
   case 'B':
     Degrees=getdivisions();  
     cho=2;
     break;
   case 'C':
     Degrees=getjog();
     lcd.clear();
     cho=3;
     break;
   }      
 }     
}    

void loop()    
{
 lcd.clear();  
 char key = kpd.getKey();
 bob = 0;
 lcd.setCursor(7,0);lcd.print("Total:  ");lcd.print(bob,2);   // total steps
 lcd.setCursor(0,3);lcd.print("Vai=A Volta=B sair=C");

 while(key != 'C')    
 {
   lcd.setCursor(0,0);lcd.print(abs(Degrees),2);lcd.print((char)223);

   // --- NOVO: mostra velocidade atual ---
   int potValue = analogRead(potPin);
   stepdelay = map(potValue, 0, 1023, 2000, 200);
   lcd.setCursor(0,1); lcd.print("Delay: "); lcd.print(stepdelay); lcd.print("us  ");

   key = kpd.getKey();
   if(key == 'A')            // dir +
     {
      bob = bob + Degrees;
      ToMove = (Degrees*Multiplier);
      digitalWrite(dir, LOW);
      printadvance();
     }
   if(key=='B')              // dir-
     {
      bob = bob - Degrees;  
      ToMove = (Degrees*Multiplier);
      digitalWrite(dir, HIGH);    
      printadvance();
     }
 }      
 lcd.init();
 setup();
}     

float getjog()
{
  float Degrees = 0;
  float num = 0.00;
   char key = kpd.getKey();
   lcd.clear();
   lcd.setCursor(6,0);lcd.print("Livre");
   lcd.setCursor(0,1);lcd.print("A=1 B=10 C=100 Pasos");
   lcd.setCursor(0,2);lcd.print("Entre Graus:");lcd.setCursor(0,3);lcd.print("OK = #       ");lcd.print((char)60);lcd.print((char)45);lcd.print(" D");

   while(key != '#')
   {
      switch (key)
      {
         case NO_KEY:
            break;
         case 'A':
            Degrees = 1;      
            lcd.setCursor(14,2);lcd.print(Degrees);
            break;
         case 'B':
            Degrees = 10;
            lcd.setCursor(14,2);lcd.print(Degrees);
            break;
         case 'C':
            Degrees = 100;
            lcd.setCursor(14,2);lcd.print(Degrees);
            break;
         case 'D':
          num=0.00;
          lcd.setCursor(14,2);lcd.print("     ");
          lcd.setCursor(14,2);
          break;
      }
      key = kpd.getKey();
   }
  return Degrees; 
}

float getdivisions()
{
  float Degrees = 0; 
  float num = 0.00;
   char key = kpd.getKey();
   lcd.clear();
   lcd.setCursor(0,1);lcd.print("Entre Divisao:");lcd.setCursor(0,3);lcd.print("OK = #       ");lcd.print((char)60);lcd.print((char)45);lcd.print(" D");
   lcd.setCursor(16,1);

   while(key != '#')
   {
      switch (key)
      {
         case NO_KEY:
            break;
            
         case '0': case '1': case '2': case '3': case '4':
         case '5': case '6': case '7': case '8': case '9':
            num = num * 10 + (key - '0');
            lcd.print(key);
            break;
        
        case 'D':
          num=0.00;
          lcd.setCursor(16,1);lcd.print("     ");
          lcd.setCursor(16,1);
          break;
      }
      Degrees = 360/num;
      key = kpd.getKey();
   }
  return Degrees;  
}

float getdegrees()
{ 
   float num = 0.00;
   float decimal = 0.00;
   float decnum = 0.00;
   int counter = 0;
   lcd.clear();
   char key = kpd.getKey();
   lcd.setCursor(0,1);lcd.print("Entre Graus:");lcd.setCursor(0,3);lcd.print("OK = #       ");lcd.print((char)60);lcd.print((char)45);lcd.print(" D");
   lcd.setCursor(15,1);
   bool decOffset = false;

   while(key != '#')
   {
      switch (key)
      {
         case NO_KEY:
            break;
            
         case '.':
           if(!decOffset)
           {
             decOffset = true;
           }
            lcd.print(key);
            break;   
         
         case 'D':
          num=0.00;
          lcd.setCursor(15,1);lcd.print("     ");
          lcd.setCursor(15,1);
          break;
         
         case '0': case '1': case '2': case '3': case '4':
         case '5': case '6': case '7': case '8': case '9':
         if(!decOffset)
         {
            num = num * 10 + (key - '0');
            lcd.print(key);
         }
         else if((decOffset) && (counter <= 1))
         {
            num = num * 10 + (key - '0');
            lcd.print(key);
            counter++;
         }
            break;
      }
      decnum = num / pow(10, counter);
      key = kpd.getKey();
   }
    return decnum;
}      

void printadvance()      
{
   lcd.setCursor(6,1);lcd.print("Movendo     ");
   lcd.setCursor(4,2);lcd.print("pasos  ");lcd.print(ToMove,0); 
   lcd.setCursor(13,0);lcd.print(bob,2);
   rotation(ToMove,0);
   lcd.setCursor(6,1);lcd.print("      "); 
} 

void rotation(float tm, int d)
{ 
  long steps = round(tm);

  for(long i = 0; i < steps; i++) 
  { 
    // --- NOVO: lê potenciômetro e ajusta delay ---
    int potValue = analogRead(potPin);
    stepdelay = map(potValue, 0, 1023, 2000, 200); 

    digitalWrite(stp, HIGH); 
    delayMicroseconds(stepdelay); 
    digitalWrite(stp, LOW); 
    delayMicroseconds(stepdelay); 
  }
}

void software_Reset() 
{
  asm volatile ("  jmp 0");  
}