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

#define SSID "WIFI_ENV"
#define PASS "PASS_ENV"

Servo myservo1;

int pos = 80;

#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);
    myservo1.write(80);

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

    myStepper1.setMaxSpeed(1000);
    myStepper1.setAcceleration(50);
    myStepper1.setSpeed(200);
    myStepper1.moveTo(2800);
    myStepper1.runToPosition();

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(-150);
    myStepper2.runToPosition();

    delay(500);

    for (pos = 80; pos < 140; pos += 1)
    {
        myservo1.write(pos);
        delay(50);
    }

    for (pos = 140; pos >= 80; pos -= 1)
    {
        myservo1.write(pos);
        delay(50);
    }

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(10);
    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(1700);
    myStepper1.runToPosition();

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(-150);
    myStepper2.runToPosition();

    for (pos = 80; pos < 140; pos += 1)
    {
        myservo1.write(pos);
        delay(50);
    }

    for (pos = 140; pos >= 80; pos -= 1)
    {
        myservo1.write(pos);
        delay(50);
    }

    delay(500);

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(10);
    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(500);
    myStepper1.runToPosition();

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(-150);
    myStepper2.runToPosition();

    delay(500);

    for (pos = 80; pos < 140; pos += 1)
    {
        myservo1.write(pos);
        delay(50);
    }

    for (pos = 140; pos >= 80; pos -= 1)
    {
        myservo1.write(pos);
        delay(50);
    }

    myStepper2.setMaxSpeed(1000);
    myStepper2.setAcceleration(50);
    myStepper2.setSpeed(200);
    myStepper2.moveTo(10);
    myStepper2.runToPosition();

    myStepper1.setMaxSpeed(1000);
    myStepper1.setAcceleration(50);
    myStepper1.setSpeed(200);
    myStepper1.moveTo(0);
    myStepper1.runToPosition();

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