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

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

Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;

#define motorInterfaceType 1

const int dirPin1 = 22;
const int stepPin1 = 23;
const int stepSpeed = 1700;
const int stepsPerRevolution = 200;

AccelStepper myStepper1(motorInterfaceType, stepPin1, dirPin1);

const int dirPin2 = 19;
const int stepPin2 = 21;

AccelStepper myStepper2(motorInterfaceType, stepPin2, dirPin2);


int minUs = 500;
int maxUs = 2400;

WebServer server(80);

void setup(){
  Serial.begin(115200);
  myservo1.setPeriodHertz(50);
  myservo1.attach(5, minUs, maxUs);

  myservo2.setPeriodHertz(50);
  myservo2.attach(17, minUs, maxUs);

  myservo3.setPeriodHertz(50);
  myservo3.attach(16, minUs, maxUs);

  myservo4.setPeriodHertz(50);
  myservo4.attach(4, minUs, maxUs);

  pinMode(stepPin1, OUTPUT);
  pinMode(dirPin1, OUTPUT);

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

  connectWiFi();
  server.on("/", handleRoot);
  server.on("/nothing", nothing);
  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());
}

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

void nothing(){
  Serial.println("nothing");

  myservo4.write(0);
  delay(2000);                                                                                                                                                      
  myservo4.write(180);

  myStepper1.setMaxSpeed(1000);
  myStepper1.setAcceleration(50);
  myStepper1.setSpeed(200);
  myStepper1.moveTo(1000);
  myStepper1.runToPosition();
  
  server.send(200, "text/plain", "nothing");
}

void charcol(){
  Serial.println("charcol");
  
  myStepper1.setMaxSpeed(1000);
  myStepper1.setAcceleration(50);
  myStepper1.setSpeed(200);
  myStepper1.moveTo(1000);
  myStepper1.runToPosition();

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

  myservo1.write(0);
  delay(2000);
  myservo2.write(180);
  
  myservo2.write(60);
  delay(2000);
  myservo2.write(0);

  myservo3.write(0);
  delay(2000);
  myservo3.write(180);

  myservo4.write(0);
  delay(2000);
  myservo4.write(180);

  delay(500);

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

  myStepper1.setMaxSpeed(1000);
  myStepper1.setAcceleration(50);
  myStepper1.setSpeed(200);
  myStepper1.moveTo(0);
  myStepper1.runToPosition();
  
  server.send(200, "text/plain", "charcol");
}

void notcharcol(){
  Serial.println("notcharcol");
 
  myStepper1.setMaxSpeed(1000);
  myStepper1.setAcceleration(50);
  myStepper1.setSpeed(200);
  myStepper1.moveTo(2000);
  myStepper1.runToPosition();

  myStepper2.setMaxSpeed(1000);
  myStepper2.setAcceleration(50);
  myStepper2.setSpeed(200);
  myStepper2.moveTo(2000);
  myStepper2.runToPosition();

  myservo1.write(0);
  delay(2000);
  myservo2.write(180);
  
  myservo2.write(60);
  delay(2000);
  myservo2.write(0);

  myservo3.write(0);
  delay(2000);
  myservo3.write(180);

  myservo4.write(0);
  delay(2000);
  myservo4.write(180);

  delay(500);

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

  myStepper1.setMaxSpeed(1000);
  myStepper1.setAcceleration(50);
  myStepper1.setSpeed(200);
  myStepper1.moveTo(0);
  myStepper1.runToPosition();
  
  server.send(200, "text/plain", "notcharcol");
} 

void plastic(){
  Serial.println("plastic");
  
  myStepper1.setMaxSpeed(1000);
  myStepper1.setAcceleration(50);
  myStepper1.setSpeed(200);
  myStepper1.moveTo(3000);
  myStepper1.runToPosition();

  myStepper2.setMaxSpeed(1000);
  myStepper2.setAcceleration(50);
  myStepper2.setSpeed(200);
  myStepper2.moveTo(3000);
  myStepper2.runToPosition();

  myservo1.write(0);
  delay(2000);
  myservo1.write(180);
  delay(2000);
  
  myservo2.write(0);
  delay(2000);
  myservo2.write(180);
  delay(2000);

  myservo3.write(0);
  delay(2000);
  myservo3.write(180);
  delay(2000);
  
  myservo4.write(0);
  delay(2000);
  myservo4.write(180);

  delay(2000);

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

  myStepper1.setMaxSpeed(1000);
  myStepper1.setAcceleration(50);
  myStepper1.setSpeed(200);
  myStepper1.moveTo(0);
  myStepper1.runToPosition();
  
  server.send(200, "text/plain", "plastic");
}