#include <Adafruit_GFX.

h> // Core graphics library

#include <TouchScreen.h>
#include "pitches.h"
#include <MCUFRIEND_kbv.h>

#define LS1 35
#define LS2 37
#define THERMOMETER 39
#define LDR1 41
#define LASER 43
#define MOTOR_IN1 51
#define MOTOR_IN2 49
#define MOTOR_IN3 47
#define MOTOR_IN4 45
#define BUZZER 31
#define IR_SENSOR 33

#define BLACK 0x0000

#define BLUE 0x001F
#define RED 0xF800
#define GREEN 0x07E0
#define CYAN 0x07FF
#define MAGENTA 0xF81F
#define YELLOW 0xFFE0
#define WHITE 0xFFFF
#define DARK_BLUE 0x00008B // Dark blue color
#define DARK_RED 0x8B0000 // Dark red color
#define PRIMARY_COLOR 0x4A11
#define PRIMARY_LIGHT_COLOR 0x7A17
#define PRIMARY_DARK_COLOR 0x4016
#define PRIMARY_TEXT_COLOR 0x7FFF

bool stopRequested = false;

bool pauseRequested = false;
bool isPaused = false;
bool showingKeypad = false; // Add this line at the top of your sketch
bool manualModeStarted = false;
const char* keys[12] = {"1", "2", "3", "4", "5", "6", "7", "8", "9", "*", "0",
"#"};

// Button dimensions and positions

int screen_width = 400;
int screen_height = 240;

// At the beginning of your sketch, where you declare global variables

int startYEdit = 20; // You can adjust this value as per your screen layout

int button2Width = 200; // Width for button2

int button2Height = 160; // Height for button2

int manualButtonWidth = 200; // Width for manual screen buttons

int manualButtonHeight = 40; // Shorter height for manual screen buttons

int buttonWidth = 200; // Smaller button width

int buttonHeight = 60; // Smaller button height
int screen_width_rotated = 240; // Width after rotation

// Center horizontally for rotated orientation

int startX = (screen_width_rotated - buttonWidth) / 2;
int startYAuto = 20; // Starting Y position for Auto Mode button
int startYManual = startYAuto + buttonHeight + 20; // Below Auto Mode button
int startYReturn = startYManual + buttonHeight + 20; // Adjust as necessary

// Text positioning for buttons (adjust as needed)

int textPosXAuto = startX + (buttonWidth - 9 * 6) / 2; // Center for "Auto Mode"
int textPosYAuto = startYAuto + (buttonHeight - 16) / 2; // Center vertically in
button
int textPosXManual = startX + (buttonWidth - 12 * 6) / 2; // Center for "Manual
Mode"
int textPosYManual = startYManual + (buttonHeight - 16) / 2;

const int keyWidth = 60;

const int keyHeight = 40;
const int keysInRow = 3;
const int keyPadding = 10;
int keypadStartX = (screen_width_rotated - (keysInRow * keyWidth + (keysInRow - 1)
* keyPadding)) / 2;
int keypadStartY = 100; // Adjust this value as needed

MCUFRIEND_kbv tft;

#define LOWFLASH (defined(__AVR_ATmega328P__) && defined(MCUFRIEND_KBV_H_))

// Touch screen pressure threshold

#define MINPRESSURE 40
#define MAXPRESSURE 1000
// Touch screen calibration
const int16_t XP = 8, XM = 56, YP = 57, YM = 9; //400x240
const int16_t TS_LEFT = 197, TS_RT = 854, TS_TOP = 904, TS_BOT = 101;

const TouchScreen ts = TouchScreen(XP, YP, XM, YM, 300);

// Global variables to keep track of the current mode

bool inAutoMode = false;
bool inManualMode = false;
int itemCount = 0; // For manual mode item count

bool motor1Running = false;

void startMotor1() {
digitalWrite(MOTOR_IN1, HIGH);
digitalWrite(MOTOR_IN2, LOW);
motor1Running = true;
}

void stopMotor1() {
digitalWrite(MOTOR_IN1, LOW);
digitalWrite(MOTOR_IN2, LOW);
motor1Running = false;
}

void rotateMotor2Clockwise() {
 digitalWrite(MOTOR_IN3, HIGH);
digitalWrite(MOTOR_IN4, LOW);
delay(3000); // Run motor for 3 seconds
digitalWrite(MOTOR_IN3, LOW);
digitalWrite(MOTOR_IN4, LOW);
}

void updateButton(int x, int y, const char* label, uint16_t bgColor, uint16_t

textColor, int btnWidth, int btnHeight) {
tft.fillRect(x, y, btnWidth, btnHeight, bgColor);
tft.setTextColor(textColor);

// Center the text horizontally and vertically

int textX = x + (btnWidth - strlen(label) * 6) / 2; // Assuming character width
of 6 pixels
int textY = y + (btnHeight - 8) / 2; // Assuming character height of 8 pixels

tft.setCursor(textX, textY);
tft.println(label);
delay(100); // Delay for button press effect
}

void drawKey(int x, int y, const char* label, uint16_t bgColor, uint16_t textColor)
{
tft.fillRect(x, y, keyWidth, keyHeight, bgColor);
tft.setTextColor(textColor);
tft.setTextSize(2); // Adjust text size as needed
tft.setCursor(x + (keyWidth - strlen(label) * 6) / 2, y + (keyHeight - 8) / 2);
// Adjust for text size
tft.println(label);
}

void updateItemCountDisplay() {
int startYNumber = 20; // Adjust as needed
tft.fillRect(startX, startYNumber, buttonWidth, buttonHeight, BLACK);
tft.drawRect(startX, startYNumber, buttonWidth, buttonHeight, WHITE);
tft.setCursor(startX + (buttonWidth - 4 * 6) / 2, startYNumber + (buttonHeight
- 16) / 2);
tft.setTextSize(2);
tft.setTextColor(WHITE);
char numStr[5];
sprintf(numStr, "%04d", itemCount);
tft.println(numStr);
}

void drawKeypad() {
tft.fillScreen(BLACK);
tft.setTextColor(WHITE);
tft.setTextSize(2);

const char *keys[12] = {"1", "2", "3", "4", "5", "6", "7", "8", "9", "*", "0",
"#"};

for (int row = 0; row < 4; ++row) {

for (int col = 0; col < 3; ++col) {
int x = keypadStartX + col * (keyWidth + keyPadding);
int y = keypadStartY + row * (keyHeight + keyPadding);
tft.drawRect(x, y, keyWidth, keyHeight, WHITE);
 tft.setCursor(x + keyWidth / 2 - 6, y + keyHeight / 2 - 8);
tft.println(keys[row * 3 + col]);
}
}
}

void enterEditMode() {
itemCount = 0; // Reset the number to zero
showingKeypad = true;
displayNumericKeypad();
}

void setup() {
uint16_t ID = tft.readID();
tft.begin(ID);
tft.setRotation(2); // Adjust as needed

// Display welcome message

tft.fillScreen(BLACK);
tft.setTextColor(WHITE);
tft.setTextSize(3);
tft.setCursor(120, 100);
tft.println("Welcome!");
delay(2000);

// Display main menu

displayMainMenu();

// Set up the limit switches as inputs

pinMode(LS1, INPUT);
pinMode(LS2, INPUT);

// Set up the thermometer module

// Assuming it's analog, if it's digital, the setup might be different
pinMode(THERMOMETER, INPUT);

// Set up the LDR and laser modules

pinMode(LDR1, INPUT);
pinMode(LASER, OUTPUT);

// Set up the motor controller pins as outputs

pinMode(MOTOR_IN1, OUTPUT);
pinMode(MOTOR_IN2, OUTPUT);
pinMode(MOTOR_IN3, OUTPUT);
pinMode(MOTOR_IN4, OUTPUT);

// Set up the buzzer as an output

pinMode(BUZZER, OUTPUT);
pinMode(IR_SENSOR, INPUT);
}

void displayMainMenu() {
tft.fillScreen(BLACK);
tft.setTextColor(WHITE);
tft.setTextSize(2);

// Auto Mode Button (using button2 dimensions)

tft.drawRect(startX, startYAuto, button2Width, button2Height, WHITE);
tft.setCursor(startX + (button2Width - 9 * 6) / 2, startYAuto + (button2Height
- 16) / 2);
tft.println("Auto");

// Manual Mode Button (using button2 dimensions)

tft.drawRect(startX, startYAuto + button2Height + 20, button2Width,
button2Height, WHITE);
tft.setCursor(startX + (button2Width - 12 * 6) / 2, startYAuto + button2Height
+ 20 + (button2Height - 16) / 2);
tft.println("Manual");
}

void displayAutoMode() {
tft.fillScreen(BLACK);
tft.setTextColor(WHITE);
tft.setTextSize(2);

int gap = 20; // Gap between buttons

int startYStart = screen_height / 6; // Starting Y position for the Start
button

// Start Button
tft.drawRect(startX, startYStart, buttonWidth, buttonHeight, WHITE);
tft.setCursor(startX + (buttonWidth - 6 * 5) / 2, startYStart + (buttonHeight -
16) / 2);
tft.println("Start");

// Stop Button
int startYStop = startYStart + buttonHeight + gap;
tft.drawRect(startX, startYStop, buttonWidth, buttonHeight, WHITE);
tft.setCursor(startX + (buttonWidth - 6 * 4) / 2, startYStop + (buttonHeight -
16) / 2);
tft.println("Stop");

// Return to Main Menu Button

int startYReturn = startYStop + buttonHeight + gap;
tft.drawRect(startX, startYReturn, buttonWidth, buttonHeight, WHITE);
tft.setCursor(startX + (buttonWidth - 6 * 4) / 2, startYReturn + (buttonHeight
- 16) / 2);
tft.println("Back");
}

void displayManualMode() {
tft.fillScreen(BLACK);
tft.setTextColor(WHITE);
tft.setTextSize(2);

int gap = 10; // Gap between buttons

// 0000 Indicator
int startYIndicator = 20;
tft.drawRect(startX, startYIndicator, manualButtonWidth, manualButtonHeight,
WHITE);
updateItemCountDisplay(); // Update the 0000 display

// Edit Button
int startYEdit = startYIndicator + manualButtonHeight + 10;
tft.drawRect(startX, startYEdit, manualButtonWidth, manualButtonHeight, WHITE);
tft.setCursor(startX + (manualButtonWidth - 6 * 4) / 2, startYEdit +
(manualButtonHeight - 16) / 2);
tft.println("Edit");

// Start Button
int startYStart = startYEdit + manualButtonHeight + 10;
tft.drawRect(startX, startYStart, manualButtonWidth, manualButtonHeight,
WHITE);
tft.setCursor(startX + (manualButtonWidth - 6 * 5) / 2, startYStart +
(manualButtonHeight - 16) / 2);
tft.println("Start");

// Pause/Continue Button
int startYPause = startYStart + manualButtonHeight + 10;
tft.drawRect(startX, startYPause, manualButtonWidth, manualButtonHeight,
WHITE);
tft.setCursor(startX + (manualButtonWidth - 6 * (isPaused ? 8 : 5)) / 2,
startYPause + (manualButtonHeight - 16) / 2);
tft.println(isPaused ? "Continue" : "Pause");

// Stop Button
int startYStop = startYPause + manualButtonHeight + 10;
tft.drawRect(startX, startYStop, manualButtonWidth, manualButtonHeight, WHITE);
tft.setCursor(startX + (manualButtonWidth - 6 * 4) / 2, startYStop +
(manualButtonHeight - 16) / 2);
tft.println("Stop");

// Return to Main Menu Button

int startYReturn = startYStop + manualButtonHeight + 10;
tft.drawRect(startX, startYReturn, manualButtonWidth, manualButtonHeight,
WHITE);
tft.setCursor(startX + (manualButtonWidth - 6 * 4) / 2, startYReturn +
(manualButtonHeight - 16) / 2);
tft.println("Back");
}

void displayNumericKeypad() {
tft.fillScreen(BLACK); // Clear the screen
tft.setTextColor(WHITE);
tft.setTextSize(2);

const char *keys[12] = {"1", "2", "3", "4", "5", "6", "7", "8", "9", "*", "0",
"#"};

for (int row = 0; row < 4; ++row) {

for (int col = 0; col < 3; ++col) {
int x = keypadStartX + col * (keyWidth + keyPadding);
int y = keypadStartY + row * (keyHeight + keyPadding);
tft.drawRect(x, y, keyWidth, keyHeight, WHITE);
tft.setCursor(x + (keyWidth - 6) / 2, y + (keyHeight - 8) / 2);
tft.println(keys[row * 3 + col]);
}
}

// Draw the OK button

int startYOK = keypadStartY + 4 * (keyHeight + keyPadding); // Below the keypad
tft.drawRect(startX, startYOK, buttonWidth, buttonHeight, WHITE);
tft.setCursor(startX + (buttonWidth - 6 * 2) / 2, startYOK + (buttonHeight -
16) / 2);
 tft.println("OK");
}

void handleKeypadInput(int row, int col, TSPoint p) {

// Check if the touch point is within the bounds of the numeric keys
for (int r = 0; r < 4; ++r) {
for (int c = 0; c < 3; ++c) {
int x = keypadStartX + c * (keyWidth + keyPadding);
int y = keypadStartY + r * (keyHeight + keyPadding);

// Check if the touch is within this key

if (p.x >= x && p.x < (x + keyWidth) && p.y >= y && p.y < (y +
keyHeight)) {
int numKey = r * 3 + c;
if (numKey < 9) { // Number keys 1-9
itemCount = (itemCount * 10) + (numKey + 1);
} else if (numKey == 9) { // '*' key, you can define its function
// Custom function for '*' key
} else if (numKey == 10) { // '0' key
itemCount = (itemCount * 10);
} else if (numKey == 11) { // '#' key, you can define its function
// Custom function for '#' key
}

// Update the display or handle the input as needed

updateItemCountDisplay();
}
}
}
// Handle the OK button separately
int okButtonX = startX; // Adjust as needed
int okButtonY = keypadStartY + 4 * (keyHeight + keyPadding); // Adjust as
needed
if (p.x >= okButtonX && p.x < (okButtonX + buttonWidth) && p.y >= okButtonY &&
p.y < (okButtonY + buttonHeight)) {
// OK button logic
showingKeypad = false;
displayManualMode();
}
}

void runMotor2For3Seconds() {
// Assuming MOTOR_IN3 and MOTOR_IN4 control the second motor
digitalWrite(MOTOR_IN3, HIGH); // Start motor2 (adjust based on your setup)
digitalWrite(MOTOR_IN4, LOW);
delay(3000); // Run for 3 seconds
digitalWrite(MOTOR_IN3, LOW); // Stop motor2
digitalWrite(MOTOR_IN4, LOW);
}

void circle() {
startMotor1(); // Start motor1

// Wait for the light switch to be HIGH

while (digitalRead(LDR1) == LOW) {
if (stopRequested) break; // Break if stop is requested
delay(10);
}
 stopMotor1(); // Stop motor1 immediately

// Start motor2
digitalWrite(MOTOR_IN3, HIGH);
digitalWrite(MOTOR_IN4, LOW);

// Wait for the IR module switch to be HIGH

while (digitalRead(IR_SENSOR) == LOW) {
if (stopRequested) break; // Break if stop is requested
delay(10);
}

// Stop motor2
digitalWrite(MOTOR_IN3, LOW);
digitalWrite(MOTOR_IN4, LOW);
}

void loop() {
digitalWrite(YP, HIGH); // Disable Pull-up
digitalWrite(XM, HIGH); // Disable Pull-up
TSPoint p = ts.getPoint();
digitalWrite(YP, LOW); // Enable Pull-down
digitalWrite(XM, LOW); // Enable Pull-down

pinMode(XM, OUTPUT);
pinMode(YP, OUTPUT);

// Check IR sensor state

if (digitalRead(IR_SENSOR) == LOW) {
// IR sensor detects an obstacle - Stop motor1
stopMotor1();
// Optionally, display a message or take other actions
}

if (p.z > MINPRESSURE && p.z < MAXPRESSURE) {

p.x = map(p.x, TS_LEFT, TS_RT, 0, tft.width());
p.y = map(p.y, TS_TOP, TS_BOT, 0, tft.height());

if (!inAutoMode && !inManualMode) {

// Auto Mode Button
if (p.x > startX && p.x < startX + button2Width && p.y > startYAuto &&
p.y < startYAuto + button2Height) {
updateButton(startX, startYAuto, "Auto", YELLOW, BLACK, button2Width,
button2Height);
delay(100); // Increased delay
updateButton(startX, startYAuto, "Auto", WHITE, BLACK, button2Width,
button2Height);
inAutoMode = true;
displayAutoMode();
}
// Manual Mode Button
else if (p.x > startX && p.x < startX + button2Width && p.y >
startYAuto + button2Height + 20 && p.y < startYAuto + 2 * button2Height + 20) {
updateButton(startX, startYAuto + button2Height + 20, "Manual",
YELLOW, BLACK, button2Width, button2Height);
delay(100);
 updateButton(startX, startYAuto + button2Height + 20, "Manual",
WHITE, BLACK, button2Width, button2Height);
inManualMode = true;
displayManualMode();
}
} else if (inAutoMode) {

// Start Button
int startYStart = screen_height / 6;
if (p.x > startX && p.x < startX + buttonWidth && p.y >
startYStart && p.y < startYStart + buttonHeight) {
updateButton(startX, startYStart, "Start", WHITE, BLACK,
buttonWidth, buttonHeight);
circle(); // Perform one circle
digitalWrite(LASER, HIGH); // Turn on the laser
delay(100);
displayAutoMode();
}
// Stop Button
int startYStop = startYStart + buttonHeight + 20;
if (p.x > startX && p.x < startX + buttonWidth && p.y >
startYStop && p.y < startYStop + buttonHeight) {
updateButton(startX, startYStop, "Stop", WHITE, BLACK,
buttonWidth, buttonHeight);
stopRequested = true;
pauseRequested = false; // Reset pause state if stop is
requested
digitalWrite(LASER, LOW); // Turn on the laser
delay(100);
displayAutoMode();
}
// Return to Main Menu Button
int startYReturn = startYStop + buttonHeight + 20;
if (p.x > startX && p.x < startX + buttonWidth && p.y >
startYReturn && p.y < startYReturn + buttonHeight) {
updateButton(startX, startYReturn, "Back", WHITE, BLACK,
buttonWidth, buttonHeight);
displayMainMenu();
inAutoMode = false;
}
} else if (inManualMode) {

int startYEdit = 20 + manualButtonHeight + 10;

int startYStart = startYEdit + manualButtonHeight + 10;
int startYPause = startYStart + manualButtonHeight + 10;

static int lastPressedKeyX = -1;

static int lastPressedKeyY = -1;

if (showingKeypad) {
// Numeric keypad buttons
for (int row = 0; row < 4; ++row) {
for (int col = 0; col < 3; ++col) {
 int x = keypadStartX + col * (keyWidth + keyPadding);
int y = keypadStartY + row * (keyHeight + keyPadding);
if (p.x >= x && p.x < x + keyWidth && p.y >= y && p.y < y +
keyHeight) {
int numKey = row * 3 + col + 1;
if (numKey <= 9) { // Keys 1-9
itemCount = (itemCount % 1000) * 10 + numKey; //
Shift left and add new digit
} else if (numKey == 10) { // Key 0
itemCount = (itemCount % 1000) * 10;
} else if (numKey == 11) { // Clear or other function
itemCount = 0;
}
updateItemCountDisplay();
delay(100); // Debounce delay
}
}
}
// OK Button
int startYOK = keypadStartY + 4 * (keyHeight + keyPadding);
if (p.x > startX && p.x < startX + buttonWidth && p.y > startYOK &&
p.y < startYOK + buttonHeight) {
updateButton(startX, startYOK, "OK", DARK_RED, WHITE,
buttonWidth, buttonHeight);
delay(100); // Delay for button press effect
showingKeypad = false;
displayManualMode();
}
} else {
// Edit Button
int startYEdit = 20 + manualButtonHeight + 10;
if (p.x > startX && p.x < startX + manualButtonWidth && p.y >
startYEdit && p.y < startYEdit + manualButtonHeight) {
updateButton(startX, startYEdit, "Edit", WHITE, BLACK,
manualButtonWidth, manualButtonHeight);
delay(100); // Delay for button press effect
enterEditMode(); // Enter edit mode and reset number
}

// Start Button
int startYStart = startYEdit + manualButtonHeight + 10;
if (p.x > startX && p.x < startX + manualButtonWidth && p.y >
startYStart && p.y < startYStart + manualButtonHeight) {
updateButton(startX, startYStart, "Start", WHITE, BLACK, manualButtonWidth,
manualButtonHeight);
circle(); // Perform one circle
digitalWrite(LASER, HIGH); // Turn off the laser
manualModeStarted = true; // Set the flag here
delay(100);
}

// In Manual Mode - Pause/Continue Button

if (inManualMode && p.x > startX && p.x < startX + manualButtonWidth && p.y >
startYPause && p.y < startYPause + manualButtonHeight) {
isPaused = !isPaused; // Toggle the pause state
updateButton(startX, startYPause, isPaused ? "Continue" : "Pause", WHITE,
BLACK, manualButtonWidth, manualButtonHeight);
delay(100); // Delay for button press effect
pauseRequested = !pauseRequested;
}

// Stop Button
int startYStop = startYPause + manualButtonHeight + 10;
if (p.x > startX && p.x < startX + manualButtonWidth && p.y >
startYStop && p.y < startYStop + manualButtonHeight) {
updateButton(startX, startYStop, "Stop", WHITE, BLACK,
manualButtonWidth, manualButtonHeight);
stopMotor1();
digitalWrite(LASER, LOW); // Turn off the laser
delay(100); // Delay for button press effect
}

// Return to Main Menu Button

int startYReturn = startYStop + manualButtonHeight + 10;
if (p.x > startX && p.x < startX + manualButtonWidth && p.y >
startYReturn && p.y < startYReturn + manualButtonHeight) {
updateButton(startX, startYReturn, "Back", WHITE, BLACK,
manualButtonWidth, manualButtonHeight);
inManualMode = false;
showingKeypad = false;
displayMainMenu();
}

}
// Handle motor and sensor logic
if (inAutoMode && !isPaused) {
// Auto Mode specific motor and sensor logic
// For example, checking LDR sensor, starting and stopping motors, etc.
}

if (inManualMode && !isPaused) {

if (itemCount > 0 && motor1Running && digitalRead(LDR1) == HIGH) {
stopMotor1();
runMotor2For3Seconds();
itemCount--;
updateItemCountDisplay();

// Check if pause was activated during the cycle

if (isPaused) {
// Wait here for the user to press continue
while (isPaused) {
delay(100); // Small delay to prevent CPU hogging
}
}
}
// Other Manual Mode specific logic, if needed
}

if (inAutoMode && digitalRead(LS1) == HIGH) {

// LS1 triggered: Stop motor1 and run it counterclockwise until LS2 is on
 stopMotor1();

// Start motor1 counterclockwise

digitalWrite(MOTOR_IN1, LOW);
digitalWrite(MOTOR_IN2, HIGH);

// Wait here until LS2 is triggered

while (digitalRead(LS2) == LOW) {
// Add a delay here to reduce CPU usage
delay(10);
}

// Once LS2 is triggered, stop motor1

stopMotor1();

// Return to the main menu or update the status on the screen

displayMainMenu();
inAutoMode = false;
}
// Additional logic for Manual Mode
if (inManualMode && itemCount > 0 && motor1Running && digitalRead(LDR1) ==
HIGH) {
stopMotor1();
runMotor2For3Seconds();
itemCount--;
updateItemCountDisplay();
}

// Additional Auto Mode logic

if (inAutoMode) {
if (motor1Running && digitalRead(LDR1) == HIGH) {
// ... (Code for Motor1 and LDR1 Logic)
}
if (digitalRead(LS1) == HIGH) {
// ... (Code for LS1 Logic)
// Note: Ensure that all loops and conditions inside this block are
closed properly.
}
}

// Additional logic for Manual Mode

if (inManualMode && manualModeStarted && itemCount <= 0) {
stopMotor1();
tft.fillScreen(BLACK);
tft.setTextColor(WHITE);
tft.setTextSize(2);
tft.setCursor(50, 100);
tft.println("Process Complete");
delay(2000);
displayMainMenu();
inManualMode = false;
manualModeStarted = false; // Reset the flag
}
}
} // Closing brace for the main loop function