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/* FoxCopter2
   Easy to use standalone antenna rotator with wiper moter for foxhunting with a car 
   Not all working and tested yet!
   Hardware:
   2x Relais print wiper-motor
   16 reedcontacts angle readout
   nokia LCD5110
   4 x push button + adjust potmeter
     
   26-03-2019
   08-04-2019
   25-04-2019
   26-04-2019
   28-04-2019
   29-04-2019
   30-04-2018
   02-05-2019
   ((C))PA3BNX
   L.J.W. Baars
*/

#include <SPI.h>
#include <Adafruit_GFX.h>
#include <Adafruit_PCD8544.h>

// Software SPI (slower updates, more flexible pin options):
// pin 7 - Serial clock out (SCLK)
// pin 6 - Serial data out (DIN)
// pin 5 - Data/Command select (D/C)
// pin 4 - LCD chip select (CS)
// pin 3 - LCD reset (RST)
Adafruit_PCD8544 display = Adafruit_PCD8544(7, 6, 5, 4, 3);

//String
const String Version("Foxcopter2 V1.00");
const String strStop="Stopped";
const String strNormal="Normal ??";
const String strAdjust="Adjust";
const String strSwing="Swing ### ?? $$$";//Shuttle Swing Commute Pendelen

const String strMenuNormalAdjustSectorX1X2="MenuNormalAdjustSwingOrX1X2";
const String strMenuSwingValues="MenuSwingValues";


//Float
const float AnalogFactor = 360.0/1023.0;  //   (360 / 1023)
const float AnalogFactor2 = 15.0/360.0;
const float rad =PI/180 ; //0.017453292

//Integer
int x1=0;  //Start Swing turning
int x2=360;//Stop Swing turning
int xcenter;//center between x1 and x2
 
const int xc = (display.width()/2)-1;//Is it here already initialised ?
const int yc = (display.height()/2)-1;

const int cNoDegrees = 999;
const int yL = display.height() -9; //DrawBottomTextLinePosition 37
 

//Bytes
byte mode; //Can be all mode... values

//All pin used Arduino Nano
const byte cPinMotor1=9;
const byte cPinMotor2=10;

const byte cPinReedContacts=A0;
const byte cPinAdjust=A1;
const byte cPinPush1=A2;
const byte cPinPush2=A3;
const byte cPinPush3=A4;
const byte cPinPush4=A5;


//Some const for easy programming
//Modus  in witch mode is the software now
const byte modeStop=0;
const byte modeNormal=1;
const byte modeAdjust=2;
const byte modeSwingToRange=3;
const byte modeSwing=4;
const byte modeMenuNormalAdjustSectorOrX1X2=5;

//Motor immediate CMD's
const byte btnStop=0;
const byte btnCW=1;
const byte btnCCW=2; 
const byte btnMenu=3;


//---------------------Fuctions-----------------------------

void ShowSerialInfo()
//Serial port Info About Pins Used
{
Serial.println(Version);
Serial.print("MotorPins");Serial.print(cPinMotor1) ;Serial.print(",");Serial.println(cPinMotor2);
Serial.println("AnalogPins");
}

int LimitDegrees360(int d)
//Degrees only from 0 to 359
{
  //Limit degrees 0 to 360 here
   int x;
   x = d%360;
   if (x<0)
   {
    x+=360; 
   }
   return x;
 }//End LimitDegrees360

void SwapX1X2forSmallestSwing()
 //ToDo Swap x1,x2
{
 if (x1 < 90 && x2 > 270 && x1 !=0)   
 {
  int x;
  x=x2;
  x2=x1;
  x1=x;
 }
}//End SwapX1X2forSamallestSwing


void FindCenterX1X2()
//ToDo find center X1 X2 for Swing
{
 if (x2 > x1)
  {
   xcenter = (x1+x2)/2;
  }
   else if (x1 > x2)
  {
   xcenter = LimitDegrees360(x1 + x2 + 360)/2;
  }
}//End FindCenter
 

String Format3Degrees(int d)
//ToDo make always 3 digits
{
  String str;
  int digits[3];
  int reminder; 
  digits[0]=d/100;
  reminder=d%100;
  digits[1]=reminder/10;
  reminder=reminder%10;
  digits[2]=reminder;
  //str+='%';
  str+=digits[0];
  str+=digits[1];
  str+=digits[2];
  return str;
} //End Format3Degrees

int Analog2Degrees(int a)
{
 return int(AnalogFactor * float(a));
}//End Analog2Degrees

int Degrees2Contacts(int d)
{
  return  int( AnalogFactor2 * float(LimitDegrees360(d))) ;
}//End Degrees2Contacts

byte GetBtnPressed(int oldbtn)
//Get witch button is pressed Argument = btnOld
{
 //ToDo check if a button is pressed and key logic
 //If nothing Pressed return oldBtn
 byte b=oldbtn; //Keep last value if nothing pressed
 
 
 for (byte i;i<10;i++)
 {
  if (digitalRead(cPinPush1)==LOW){b= btnStop ;}
  if (digitalRead(cPinPush2)==LOW){b= btnCW ;}
  if (digitalRead(cPinPush3)==LOW){b= btnCCW ;}
  if (digitalRead(cPinPush4)==LOW){b= btnMenu ;}
  delay(10);
 }
 return b;

}//End GetBtnPressed

byte Motor(byte btnPressed)
//MotorRelais Cmd's  Returns last turning direction 
{
 //ToDo motor cmd's Stop, CW and CCW and return last TurnDirection RL
bool a;
bool b;


static byte RL;
switch(btnPressed){
  case btnStop:
   a=false;
   b=false;
   break;
  case btnCW:
   RL=1;
   a=true;
   b=false;
   break;
  case btnCCW:
   RL=2;
   a=false;
   b=true;
   break;
  case btnMenu: //Always stop motor
   a=false;
   b=false;
   break;
  default:
   RL=0;
   a=true;
   b=true;
   break;
}

digitalWrite(cPinMotor1,a);
digitalWrite(cPinMotor2,b);

return RL;


}//End Motor

bool ReadToPointPotmeter(int d, int a )
//See if RotorDegrees = AdjustDegrees
{
 //ToDo return true if potmeter   AdjustDegrees is RotorDegrees
 //Analog to degrees
 d=Analog2Degrees(d);
 a=Analog2Degrees(a);

 d=Degrees2Contacts(d);
 a=Degrees2Contacts(a);
 
 //Change degrees in 16 steps

 //Check to see if reached in 16 steps
 if (a == d)
 {
  return true;
 }
 
}//End ReadPointPotmeter

void DrawPelorus(int d)
//Draw Pelorus Arrow + Degrees Text 06-07-2018
{
//Float
//const float rad =PI/180 ; //0.017453292
float q;

//Int
static int OldDegrees = cNoDegrees;

//Integer
int r = yc-2;
int s,ss;

byte y;

 //Draw ArrowLine
 q  = (d-90) * rad;
 s  = xc + int(cos(q) * r);
 ss = yc + int(sin(q) * r);
 
 display.drawLine(xc,yc,s,ss,BLACK);

//Nothing ToDo
if (OldDegrees==d)
{
  return;
}

display.clearDisplay();
display.drawCircle(xc,yc,yc,BLACK);//Rim of circle

if (d==cNoDegrees)
{
 //Draw Just CenterDot
 display.fillCircle(xc,yc,2,BLACK); 
}
else
{
 //Draw Just ArrowLine
 display.drawLine(xc,yc,s,ss,BLACK);

 //Draw Just Text Degrees Print
 if (d > 270 || d < 90)
 {
  y=yc+3;
 }
 else
 {
  y=yc-10;
 }
 display.setTextSize(1);
 display.setCursor(xc-9,y);
 display.println(Format3Degrees(d));
}
 display.display();
 OldDegrees=d;//Backup now
 Serial.println(d);
}//End DrawPelorus
void DrawOnlyGotoPoint(int d)
//Draw turntopoint arrow  from adjustpotmeter 25-04-2019
{
//int xc = display.width()/2 -1;
//int yc = display.height()/2-1;
int rs = yc -2;//Begin Radius
int r = yc + 2;//End Radius
int xs,ys;
int s,ss;
float q;

if (mode == modeAdjust)
 {
  //Draw ShortEndArrowLine
  q  = (d-90) * rad;

  xs = xc + int(cos(q) * rs);
  ys = yc + int(sin(q) * rs);
  s  = xc + int(cos(q) * r);
  ss = yc + int(sin(q) * r);
 
  display.drawLine(xs,ys,s,ss,BLACK);
 }
}//End DrawOnlyGotoPoint

void DrawText(byte RL)
//Draw Text and/or do MenuSettings
{
/*
Value
const byte modeStop=0;
const byte modeNormal=1;
const byte modeAdjust=2;
const bytemodeSwing=3;
const byte modeMenuNormalAdjustSectorOrX1X2=4;

String
const String Version("Foxcopter2 V1.00");
const String strStop="Stopped";
const String strNormal="Normal ##";
const String strAdjust="Adjust";
const String strSwing="Swing ### ?? $$$";

const String strMenuNormalAdjustSector="MenuNormalOrSector";
const String strMenuSwingValues="MenuSectorValues ## ?? $$";
*/

 String myval;
 bool bFlag;

switch (mode){
  case modeStop:
   myval= strStop;
  bFlag=true;
   break;
  case modeNormal:
   //here it can be Nothing, CW or CCW 
   myval=strNormal;
   
   if (RL==0)
    {
     //myval.replace("??","??");
    }
   else if (RL==1)
   {
    myval.replace("??",">>");
   }
    else if (RL==2)
   {
    myval.replace("??","<<");
   }
  bFlag=true;
   break;
  case modeAdjust:
   myval=strAdjust;
  bFlag=true;
   break;
  case modeSwing:
   myval=strSwing;
   myval.replace("###", Format3Degrees(x1)); //Show Swing range
   if (RL==1){
   myval.replace("??",">>");}
   else if (RL==2){
   myval.replace("??","<<");}
   myval.replace("$$$",Format3Degrees(x2));
  bFlag=true;
   break;
  case modeMenuNormalAdjustSectorOrX1X2:
   ModeSetting();
   //ToDo Select NormalAdjustSector or X1X2Adjust
   bFlag=false;
   break;
  default:
  bFlag=false;
   break;
}

 if (bFlag==true)
 {
  display.setTextSize(1);
  display.setCursor(0,yL);
  display.print(myval);
 }
}//End DrawText
 
void ModeSetting()
//Call this only from DrawText() if modeMenuNormalAdjustSectorOrX1X2
{
  display.clearDisplay();
  display.setTextSize(1);
  display.setCursor(0,15);
  display.println(strMenuNormalAdjustSectorX1X2);
  display.display();

  //Go checking now
  //If here mode = modeMenuNormalAdjustSectorX1X2
  //So never leave it this mode

  byte x;

  String myval;
   
   //You must Press a Key
   do { 
    if (digitalRead(cPinPush1)==LOW) {x=1;}
    if (digitalRead(cPinPush2)==LOW) {x=2;}
    if (digitalRead(cPinPush3)==LOW) {x=3;}
    if (digitalRead(cPinPush4)==LOW) {x=4;}
   }while(x==0);


  switch (x){
    case 1:
    mode=modeNormal;
    myval=strNormal;
    break;
    case 2:
     mode=modeAdjust;
     myval=strAdjust;
    break;
    case 3:
     mode=modeSwing;
     myval=strSwing + " " + Format3Degrees(x1) + " <> " + Format3Degrees(x2);
     break;
    case 4:
     X1andX2Setting();//Get new values for x1 x2
      mode=modeSwingToRange; //If in range then it changes to modeSwing
      //mode=modeSwing;
     return;
     break;
    default:
     mode=modeNormal;
     myval="Nothing";
     break;
  }

  display.setTextSize(1);
  display.setCursor(0,15);
  display.println(myval);
  display.display();
 
  delay(1000);
 
}//End ModeSetting

void X1andX2Setting()
//Call this only from Function ModeSetting()
{
 
  byte x;
  int oldX12;
 
  display.clearDisplay();
  display.setTextSize(1);
  display.setCursor(0,15);
  display.print(strMenuSwingValues);
  display.display();

  //Go finding out values x1 and x2 with the potmeter
       
    do{
    x1=Analog2Degrees(analogRead(cPinAdjust));
    if (x1 != oldX12)
    {
     display.setCursor(0,18);
     display.setTextColor(WHITE);
     display.print(Format3Degrees(oldX12));//Erease from screen
     display.setTextColor(BLACK);
     display.print(Format3Degrees(x1));
     display.display();
     oldX12=x1;
     delay(100);
    }
    if (digitalRead(cPinPush1)==LOW) {x=1;}
    if (digitalRead(cPinPush2)==LOW) {x=1;}
    if (digitalRead(cPinPush3)==LOW) {x=1;}
    if (digitalRead(cPinPush4)==LOW) {x=1;}
    }
    while(x==0);

    x=0;
    oldX12=0;

    display.setCursor(20,18);
    display.setTextColor(BLACK);
    display.print("<>");
    display.display();

    //How run from 270 to 22 degrees ??
    //Always run Smallest Swing
    do{
    x2=Analog2Degrees(analogRead(cPinAdjust));
     if (oldX12 != x2 )
     {
     display.setCursor(30,18);
     display.setTextColor(WHITE);
     display.print(Format3Degrees(oldX12));//Erease from screen
     display.setTextColor(BLACK);
     display.print(Format3Degrees(x2));
     display.display();
     x2=oldX12;
     delay(100);
     }
    if (digitalRead(cPinPush1)==LOW){x=1;}
    if (digitalRead(cPinPush2)==LOW){x=1;}
    if (digitalRead(cPinPush3)==LOW){x=1;}
    if (digitalRead(cPinPush4)==LOW){x=1;}
   
    }
    while(x==0);

    if (x2 < x1)
    { 
     x2=x1+1;
    }

     //Swap if needed smallest Swing
     SwapX1X2forSmallestSwing();
     FindCenterX1X2();

     display.setCursor(1,40);
     display.setTextColor(BLACK);
     display.print("I use this " + Format3Degrees(x1) + " <> " + Format3Degrees(x2));
     display.display();
     delay(1000);
}//End X1 and X2 Setting

byte TimeMotorRunsOneDirectionLimit(byte btn,byte RL)
//ToDo Time Limit Returns btnStop
{
  //Not Okay Yet
 
  const unsigned long tMax=15000; //15 seconds
  static unsigned long tStart;
  long unsigned tNow;

  //Get time
  tNow=millis();

   //Reset time
   // Reset always
  if (btn==btnStop || btn==btnMenu)
   {
    tStart=tNow;//Restart counting
   }

  //Restart Counting if direction is changed
  if (btn!=RL && (btn==btnCW || btn==btnCCW )) //To Long running one direction
   {
    tStart=tNow;//Restart counting
   }
 
  //Time Overflow check
  if ((tNow-tStart)>=tMax)
   {
    return btnStop;//Modify to Stop
   }
   else
   {
    return btn;
   }
}//End Time Limit

void setup() {
 
Serial.begin(9600);

//Motor relais
pinMode(cPinMotor1,OUTPUT);
pinMode(cPinMotor2,OUTPUT);

//Buttons
pinMode(cPinPush1,INPUT_PULLUP);
pinMode(cPinPush2,INPUT_PULLUP);
pinMode(cPinPush3,INPUT_PULLUP);
pinMode(cPinPush4,INPUT_PULLUP);

ShowSerialInfo();

display.begin();
display.setContrast(50);

FindCenterX1X2();

mode=modeNormal ; //Can be all mode... values
DrawPelorus(cNoDegrees);

delay(2000);
display.clearDisplay();   //clears the screen and buffer
}//--------------------------------------------------End Setup---------------------------------------------------

void loop() {

//Byte
byte btn;                        //Witch button is pressed
static byte btnOld=btnStop;      //button Old pressed
static byte modeOld=modeNormal;  //mode Old
static byte RLOld=btnStop;       //Last turning stop, left or right 0.1,2
//Integer
int RotorDegrees;                //Analog reedcontactjes degrees
int AdjustDegrees ;              //Analog potmeter degrees
static int AdjustDegreesOld;     //Old analog potmeter value

//Check button 's pressed
btn=GetBtnPressed(btnOld);

//Get RotorDegrees
RotorDegrees=Analog2Degrees(analogRead(cPinReedContacts));

//Get PotmeterAdjustDegrees
AdjustDegrees=Analog2Degrees(analogRead(cPinAdjust));


switch (mode){
 //Turn CW or CCW but not to far so limit turning
 //Not used yet
 
 case modeNormal:
  if (RotorDegrees >= 337 && btn == btnCW){btn=btnStop;}//Modify btn
  else if (RotorDegrees <= 22 && btn == btnCCW){btn=btnStop;}//Modify btn
     
  if(btn != btnOld){RLOld=Motor(btn);}//Switch the Motor
  break;

 case modeAdjust:
   //Run to potmeter value
  if (ReadToPointPotmeter(RotorDegrees,AdjustDegrees)==true){btn=btnStop;}//Modify btn
  else if (RotorDegrees < AdjustDegrees) {btn=btnCCW;}
  else if (RotorDegrees > AdjustDegrees) {btn=btnCW;}
 
  if(btn != btnOld){RLOld=Motor(btn);}//Switch the Motor
  break;

 case modeSwingToRange:
   //Start always xcenter RotorDegrees for Swing
     
   if (ReadToPointPotmeter(RotorDegrees,xcenter)==false)
    {
      btn=btnCCW;
    }
     else
    {   
     mode=modeSwing;
     btn=btnStop;
    }
   
    if(btn != btnOld){RLOld=Motor(btn);}//Switch the Motor
    break;
   
 case modeSwing:
   //Not Okay here Yet 29-04-2019
   //Swing
 
   //Find smallest swing
   //Run to in range x1, x2 position xcenter modeSwingToRange
   //Swing between x1 and x2
   //Change direction automatic
   //If btn=btnStop stop motor don't swing
 
 
   if (btn != btnStop)
   {
     
  if (x2 > x1)
   //Swinging not over point 0 
  {
   if (RLOld==btnCW && RotorDegrees >=377)
   {
     Motor(btnStop);
     btn=btnCCW;//Modify btn
    }
   else if (RLOld==btnCCW &&  RotorDegrees <=0)
   {
    Motor(btnStop);
    btn=btnCW;//Modify btn
   }
    delay(100);
    RLOld=Motor(btn);
  }
    else if (x1 > x2)
    //Swinging over point 0 degrees
    {
     if (RLOld==btnCW && (RotorDegrees >= x1 && RotorDegrees < x2))
    {
      Motor(btnStop);
      btn=btnCCW;
    }
    else if (RLOld==btnCCW &&  (RotorDegrees <= x2  && RotorDegrees > x1))
    {
      Motor(btnStop);
      btn=btnCW;
    }
     delay(100);
     RLOld=Motor(btn);
    }
  }

 
  if(btn != btnOld){RLOld=Motor(btn);}//Switch the Motor
  break;
}

//Display on Nokia LCD5110

//Display (Pelorus + Degrees Now) + GotoArrow + (Text + Menu's) 
DrawPelorus(RotorDegrees); //Pelorus
//Only draw GotoPointArrow if mode is adjustpotmeter
DrawOnlyGotoPoint(AdjustDegrees);
//Only Draw text or go to Menu
DrawText(RLOld);


//Display Serial Monitor
//Display the btn
if (btnOld!=btn)
{
 Serial.print("btn=");Serial.println(btn);//Only for test purposes print once
 btnOld=btn;//Backup
}

//Display the mode
if (modeOld!=mode)
{
 Serial.print("mode=");Serial.println(mode);//Only for test purposes print once
 modeOld=mode;//Backup
}

//Time motor runs one direction limit 15 seconds ?
btnOld=TimeMotorRunsOneDirectionLimit(btn,RLOld);//It can modify btn to btnStop

}//End Loop End Program