#include <WiFi.h>
#include <WebServer.h>
#include <ESP32Servo.h>
#include <AccelStepper.h>

// WiFi
#define SSID "Kuriyama-DIY-G"
#define PASS "kuriyama"

// Servo
Servo myservo;
Servo myservo2;
Servo myservo3;

int minUs = 500;
int maxUs = 2400;

// Stepper
#define motorInterfaceType 1
const int dirPin = 22;
const int stepPin = 23;

const int dirPin2 = 16;
const int stepPin2 = 17;

const int stepSpeed = 1700;
const int stepsPerRevolution = 200;

AccelStepper myStepper(motorInterfaceType, stepPin, dirPin);

AccelStepper myStepper2(motorInterfaceType, stepPin2, dirPin2);

// Web server
WebServer server(80);

void setup()
{

    Serial.begin(115200);

    myservo.setPeriodHertz(50);
    myservo.attach(4, minUs, maxUs);

    myservo2.setPeriodHertz(50);
    myservo2.attach(19, minUs, maxUs);

    myservo3.setPeriodHertz(50);
    myservo3.attach(21, minUs, maxUs);

    pinMode(stepPin, OUTPUT);
    pinMode(dirPin, OUTPUT);

    pinMode(stepPin2, OUTPUT);
    pinMode(dirPin2, OUTPUT);

    connectWiFi();
    server.on("/", handleRoot);
    server.on("/boy", boy);
    server.on("/flower", flower);
    server.on("/pig", pig);
    server.begin();
    Serial.println("HTTP server started");
}

void loop()
{
    server.handleClient();
}

void connectWiFi()
{
    WiFi.begin(SSID, PASS);
    Serial.println();
    while (WiFi.status() != WL_CONNECTED)
    {
        delay(500);
        Serial.print(".");
    }

    Serial.println();
    Serial.println("WiFi connected");
    Serial.println(WiFi.localIP());
}

void handleRoot()
{
    server.send(200, "text/plain", "OK");
}

void boy()
{

    Serial.println("boy");
    myStepper.setMaxSpeed(1000);
    myStepper.setAcceleration(50);
    myStepper.setSpeed(200);
    myStepper.moveTo(1100);
    myStepper.runToPosition();

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(200);
    myStepper2.runToPosition();

    delay(1000);

    myservo.write(180);

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(0);
    myStepper2.runToPosition();

    myStepper.setMaxSpeed(1000);
    myStepper.setAcceleration(50);
    myStepper.setSpeed(200);
    myStepper.moveTo(0);
    myStepper.runToPosition();

    myservo.write(0);

    server.send(200, "text/plain", "boy");
}

void flower()
{

    Serial.println("flower");
    myStepper.setMaxSpeed(1000);
    myStepper.setAcceleration(50);
    myStepper.setSpeed(200);
    myStepper.moveTo(2000);
    myStepper.runToPosition();

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(200);
    myStepper2.runToPosition();

    delay(1000);
    myservo2.write(0);

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(0);
    myStepper2.runToPosition();

    myStepper.setMaxSpeed(1000);
    myStepper.setAcceleration(50);
    myStepper.setSpeed(200);
    myStepper.moveTo(0);
    myStepper.runToPosition();

    myservo2.write(180);

    server.send(200, "text/plain", "flower");
}

void pig()
{

    Serial.println("pig");
    myStepper.setMaxSpeed(1000);
    myStepper.setAcceleration(50);
    myStepper.setSpeed(200);
    myStepper.moveTo(3000);
    myStepper.runToPosition();

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(200);
    myStepper2.runToPosition();

    delay(1000);

    myservo3.write(180);

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(0);
    myStepper2.runToPosition();

    myStepper.setMaxSpeed(1000);
    myStepper.setAcceleration(50);
    myStepper.setSpeed(200);
    myStepper.moveTo(0);
    myStepper.runToPosition();

    myservo3.write(0);

    server.send(200, "text/plain", "pig");
}