// Include the Arduino Stepper Library
//#include <Stepper.h>
#include <Servo.h>

#define endStopBtn  4
#define brewBtn  2
bool isAtEndstop = false;
bool isBrewing = false;

int brewingBtnState = 0;

// define direction pin and step pin
#define dirPin 26
#define stepPin 27
#define sleepPin 28
#define resetPin 29
// define microstepping signal pins
#define m0 0
#define m1 7
#define m2 6
#define stepsPerRevolution 200

Servo myservo;  // create servo object to control a servo
// twelve servo objects can be created on most boards

int pos = 0;    // variable to store the servo position

// Number of steps per output rotation
//const int stepsPerRevolution = 200;

// Create Instance of Stepper library
//Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);


void setup()
{
  pinMode(endStopBtn, INPUT_PULLUP);
  pinMode(brewBtn, INPUT_PULLUP);
  pinMode(LED_BUILTIN, OUTPUT);

  myservo.attach(3, 800, 2200);  // attaches the servo on pin 9 to the servo object
  // set the speed at 60 rpm:
  //myStepper.setSpeed(60);

  // Declare stepper driver pins as output:
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(sleepPin, OUTPUT);
  pinMode(resetPin, OUTPUT);
  pinMode(m0, OUTPUT);
  pinMode(m1, OUTPUT);
  pinMode(m2, OUTPUT);
  
  // initialize the serial port:
  Serial.begin(9600);
}

void loop() 
{
//Stepper setup
  digitalWrite(sleepPin, HIGH);
  digitalWrite(resetPin, HIGH);
  // Set 1/16 microstepping
  digitalWrite(m0, LOW);
  digitalWrite(m1, LOW);
  digitalWrite(m2, HIGH);
  
  

  int endstopBtnState = digitalRead(endStopBtn);
  Serial.println(brewingBtnState);




  while(isAtEndstop == false){
    endstopBtnState = digitalRead(endStopBtn);
    if(endstopBtnState == 1){

      //move stepper a few steps at a time until it reaches the endstop button
      myservo.write(0);              // tell servo to go to position in variable 'pos'
      delay(15);   
      //myStepper.step(-10);
      // Set the spinning direction clockwise:
      digitalWrite(dirPin, LOW);
  // Go -10 steps slowly:
  for (int i = 0; i < 16*10; i++) { 
      // These four lines result in 1 step:
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(1000);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(1000);
  }

/*
      //blinking light while stepper is not at endstop
      digitalWrite(LED_BUILTIN, HIGH);  // turn the LED on (HIGH is the voltage level)
      delay(100);                      // wait for a second
      digitalWrite(LED_BUILTIN, LOW);   // turn the LED off by making the voltage LOW
      delay(100); 
    */
    }

    else{
      //if here then the endstop button is pressed, then move the stepper 5? steps away from button and put isAtEndstop variable to true to get out of endstop routine
      
      //light is fully on when the endstop button is pressed
      //digitalWrite(LED_BUILTIN, HIGH);  // turn the LED on (HIGH is the voltage level)
      //myStepper.step(10);
      digitalWrite(dirPin, HIGH);
  // Go 10 steps slowly:
  for (int i = 0; i < 16*10; i++) { 
      // These four lines result in 1 step:
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(1000);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(1000);
  }

      isAtEndstop = true;
    }
  }


  while(isBrewing == false){
     // Serial.println("Press button for Tea");
    brewingBtnState = digitalRead(brewBtn);
    Serial.println(brewingBtnState);
    if(brewingBtnState == 0){
      Serial.println("Making Tea");
      //myStepper.step(140);
      
            digitalWrite(dirPin, HIGH);
  // Go 140 steps slowly:
  for (int i = 0; i < 16*140; i++) { 
      // These four lines result in 1 step:
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(1000);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(1000);
  }
      myservo.write(130); 
      delay(500);
      myservo.write(30); 
      delay(500);
      myservo.write(130); 
      delay(500);
      myservo.write(30); 
      delay(500);
       myservo.write(130); 
      delay(500);
      myservo.write(30); 
      delay(500);
      myservo.write(130); 
      delay(5000);
      myservo.write(0);              // tell servo to go to position in variable 'pos'
      delay(2000);

      //myStepper.step(260);

      digitalWrite(dirPin, HIGH);
  // Go 260 steps slowly:
  for (int i = 0; i < 16*260; i++) { 
      // These four lines result in 1 step:
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(1000);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(1000);
  }

      
      delay(500);

      myservo.write(180); 
      delay(2000);

      isBrewing = true;
  }
}
  isAtEndstop = false;
  isBrewing = false;




  
  /*
  
  for (pos = 90; pos <= 160; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    Serial.println("moving servo");
    myservo.write(50);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }


  // step one revolution in one direction:
  Serial.println("clockwise1");
  myStepper.step(150);
  delay(1000);

  
  for (pos = 90; pos <= 160; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    Serial.println("moving servo again");
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }

  
  for (pos = 90; pos <= 160; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }


  // step one revolution in one direction:
  Serial.println("clockwise2");
  myStepper.step(293);
  delay(1000);
   
  for (pos = 90; pos <= 160; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  */
}