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

#define SSID "ENV_WIFI"
#define PASS "ENV_PASS"

Servo myservo;

#define motorInterfaceType 1
const int dirPin = 22;
const int stepPin = 23;
const int stepSpeed = 1700;
const int stepsPerRevolution = 200;

AccelStepper myStepper(motorInterfaceType, stepPin, dirPin);

int minUs = 500;
int maxUs = 2400;

WebServer server(80);

void setup()
{
  Serial.begin(115200);
  myservo.setPeriodHertz(50);
  myservo.attach(21, minUs, maxUs);
  pinMode(LED_PIN, OUTPUT);

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

  connectWiFi();
  server.on("/", handleRoot);
  server.on("/charcol", charcol);
  server.on("/notcharcol", notcharcol);
  server.on("/plastic", plastic);
  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());
}

int sort_trash(int move_position, int return_position)
{
  myStepper.setMaxSpeed(1000);
  myStepper.setAcceleration(50);
  myStepper.setSpeed(200);
  myStepper.moveTo(move_position);
  myStepper.runToPosition();

  myservo.write(60);
  delay(2000);
  myservo.write(0);

  delay(500);

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

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

void charcol()
{
  Serial.println("charcol");

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

  myservo.write(60);
  delay(2000);
  myservo.write(0);

  delay(500);

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

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

void notcharcol()
{
  Serial.println("notcharcol");

  myStepper.setMaxSpeed(1000);
  myStepper.setAcceleration(50);
  myStepper.setSpeed(200);
  myStepper.moveTo(400);
  myStepper.runToPosition();

  myservo.write(60);
  delay(2000);
  myservo.write(0);

  delay(500);

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

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

void plastic()
{
  Serial.println("plastic");

  myStepper.setMaxSpeed(1000);
  myStepper.setAcceleration(50);
  myStepper.setSpeed(200);
  myStepper.moveTo(600);
  myStepper.runToPosition();

  myservo.write(60);
  delay(2000);
  myservo.write(0);

  delay(500);

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

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