#include <Wire.h>     
#include "LiquidCrystal_I2C.h"  
#include <Arduino.h>
#include "BasicStepperDriver.h"

// LCD Configuration (2004 LCD with I2C)
LiquidCrystal_I2C lcd(0x27, 20, 4); // Adjust I2C address if needed 

float rev=0;
const int IR =2;
int currentstate = 0;
int laststate = 0;
unsigned long lastDebounceTime = 0;
unsigned long debounceDelay = 50; // Debounce delay in milliseconds

int Acurrentstate = 0;
int Alaststate = 0;
float Arev=0;

int REVcurrentstate = 0;
int REVlaststate = 0;

int MOTE = 5;
int MOTA = 4;
int degree = 0;

double MOTOR_STEPS  = 200;
double RPM =0 ;
int DIR = 14;
int STEP = 15;
double MICROSTEPS = 16 ;
double primaryrotation = 360;
BasicStepperDriver stepper(MOTOR_STEPS, DIR, STEP);

int stateA=0;
int stateB=0;
#define outputA 3
#define outputB 12
#define Switch 11

double OD = 0;
double turns = 0;
double rotation = 0;
double circumfarence = 0;
double pulse = 0;
double step_per_cirum = 4.225;
double turn_RPM_factor = 6.4;

void isr() //interrupt service routine
{
  currentstate = digitalRead(IR);
  
  // Debounce logic to ensure one detection per transition
  if (currentstate != laststate) {
    unsigned long currentTime = millis();
    if (currentTime - lastDebounceTime > debounceDelay) {
      if (currentstate == HIGH) { // Only count on rising edge (or change to LOW if needed)
        rev++;
      }
      laststate = currentstate;
      lastDebounceTime = currentTime;
    }
  }
}

void flag() //interrupt service routine
{
  Acurrentstate = digitalRead(outputA);
  
  if (Acurrentstate != Alaststate){
    Arev++;
    Alaststate = Acurrentstate;
    delay(50);
  }
}

void setup(){
  lcd.begin(16, 2); 
  lcd.backlight(); 
  pinMode(IR, INPUT);
  pinMode(outputA,INPUT);
  pinMode (Switch,INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(2),isr,CHANGE); 
  attachInterrupt(digitalPinToInterrupt(3), flag, CHANGE);
  pinMode(MOTE, OUTPUT);
  pinMode(MOTA, OUTPUT);
  Serial.begin(9600);

  lcd.setCursor(0, 0);
  lcd.print ("TOROIDAL MACHINE"); 
  delay (2000);
  lcd.setCursor(0, 1);
  lcd.print (" JLCPB 2$ 5PCB"); 
  delay (4000);
  
  lcd.clear();
  digitalWrite(MOTE, HIGH);
  lcd.setCursor(0, 0);

  if (digitalRead(IR)==HIGH){
    digitalWrite(MOTA,HIGH);
    delay(1000);
    digitalWrite(MOTA,LOW);
  }
}

void loop()
{
  if (stateA == 0){
    lcd.setCursor(0, 0);
    lcd.print ("CORE OD");  
    lcd.setCursor(5, 1); 
    lcd.print("MM"); 
    lcd.setCursor(14, 1); 
    lcd.print(">>");
    lcd.setCursor(0, 1); 
    lcd.print(round(Arev/2));
    OD = round(Arev/2);
  }  

  if (stateA ==0 && !digitalRead(Switch)){
    delay(1000);
    stateA = 1;
    Arev = 0;
    lcd.clear();
  }

  if (stateA ==1){
    lcd.setCursor(0, 0);
    lcd.print ("NO. OF TURNS");   
    lcd.setCursor(14, 1); 
    lcd.print(">>");
    lcd.setCursor(0, 1); 
    lcd.print(round(Arev/2));
    turns = round(Arev/2);
  }

  if (stateA ==1 && !digitalRead(Switch)){
    delay(1000);
    stateA = 2;
    Arev = 0;
    lcd.clear();
  }

  if (stateA == 2){
    lcd.setCursor(0, 0);
    lcd.print ("DEGREE OF WINDING");   
    lcd.setCursor(14, 1); 
    lcd.print(">>");
    lcd.setCursor(0, 1); 
    lcd.print(round(10*(Arev/2)));
    rotation = round(10*(Arev/2));
  }

  if (stateA ==2 && !digitalRead(Switch)){
    delay(1000);
    stateA = 3;
    Arev = 0;
    lcd.clear();
  }

  if (stateA == 3){
    pulse = (MOTOR_STEPS *MICROSTEPS* 2.54 * (rotation / primaryrotation));
    stepper.begin(20, MICROSTEPS);
    degree = pulse / (turns * 2);

    lcd.setCursor(0, 0);
    lcd.print("OD");
    lcd.setCursor(3, 0);
    lcd.print("TURNS");
    lcd.setCursor(10, 0);
    lcd.print("DEG");
    lcd.setCursor(0, 1);
    lcd.print(round(OD));
    lcd.setCursor(4, 1);
    lcd.print(round(turns));
    lcd.setCursor(10, 1);
    lcd.print(round(rotation));
    lcd.setCursor(14, 1); 
    lcd.print(">>");
  }

  if (stateA ==3 && !digitalRead(Switch)){
    delay(1000);
    stateA = 4;
    Arev = 0;
    lcd.clear();
    delay (500);
  }

  if (stateA == 4){
    if (round(rev/2)<=turns){
      REVcurrentstate = round(rev);

      if (REVcurrentstate+1 != REVlaststate){
        digitalWrite(MOTA, HIGH);
        stepper.move(round(degree));
        lcd.setCursor(0, 0);
        lcd.print("RUNNING");
        lcd.setCursor(0, 1);
        lcd.print(round(rev/2));
        lcd.setCursor(5, 1);
        lcd.print("TURNS");
        REVlaststate = REVcurrentstate+1;
      }
    }
    else {
      digitalWrite(MOTA, LOW);
      stepper.stop();
      delay(500);
      lcd.setCursor(0, 0);
      lcd.print(".....FINISH.....");
      lcd.setCursor(0, 1);
      lcd.print("----------------");
    }
  }
}