#include <SPI.h>
#include <C:\Users\Marderchen\Documents\Arduino\adafruiuittes\Wiremod.h>
#include <C:\Users\Marderchen\Documents\Arduino\adafruiuittes\Adafruit_GFXmod.h>
#include <C:\Users\Marderchen\Documents\Arduino\adafruiuittes\Adafruit_SSD1306_STM32mod.h>
#define OLED_RESET 12
Adafruit_SSD1306 display(OLED_RESET);

#define tlinks   PA15
#define tmitte   PA12
#define trechts  PA11
#define ter4  PA6
#define ter5  PA7
#define power  PC13

//photolazer
#define mess1a  PA0 //optischmessstreifen Y achse
#define mess1b  PA1 //optischmessstreifen Y achse
#define mess2a  PA2 //optischmessstreifen X achse
#define mess2b  PA3 //optischmessstreifen X achse
//endlagen
#define xR PA4 //endtaster x achse rechts
#define xL PA5 //endtaster x ache links
#define y2 PA8 // y achse linke seite vorne links
#define y1 PA7// y

//module one
#define m1_a PB11 //y motor links  am nach hinten
#define m1_b PB10 //y motor links  an nach vorne
#define m1_c PB1  //y motor rechts an nach hinten
#define m1_d PB0  //y motor rechts an nach vorne
//module two
#define m2_a PC13 //stift pusher an polung - + //stift runter
#define m2_b PC14 //stift pusher an polung + - //stift rauf
#define m2_c PC15 //  x motor an links
#define m2_d PB9  //  x motor an rechts


//module tree
#define m3_a PB12 // unused stiftkopf stepper?
#define m3_b PB13 // unused stiftkopf stepper?
#define m3_c PB14 // unused stiftkopf stepper?
#define m3_d PB15 // unused stiftkopf stepper?


uint8_t printstuff[1700];
boolean printlos=false;
long  tim = millis();

int zeit1 =0;
int zeit2=0;
int zeit3=0;
int onpress[8];
void setup(){


  pinMode(tlinks, INPUT);
  pinMode(tmitte, INPUT);
  pinMode(trechts, INPUT);
  pinMode(ter4, INPUT);
  pinMode(ter5, INPUT);
  pinMode(m1_a, OUTPUT);
  pinMode(m1_b, OUTPUT);
  pinMode(m1_c, OUTPUT);
  pinMode(m1_d, OUTPUT);
  pinMode(m2_a, OUTPUT);
  pinMode(m2_b, OUTPUT);
  pinMode(m2_c, OUTPUT);
  pinMode(m2_d, OUTPUT);
  pinMode(m3_a, OUTPUT);
  pinMode(m3_b, OUTPUT);
  pinMode(m3_c, OUTPUT);
  pinMode(m3_d, OUTPUT);
  pinMode(power, OUTPUT);
  Serial1.begin(115200);
 delay(50);
 /*
digitalWrite(m1_a,HIGH); digitalWrite(m1_b,HIGH); digitalWrite(m1_c,HIGH); digitalWrite(m1_d,HIGH);
digitalWrite(m2_a,HIGH); digitalWrite(m2_b,HIGH); digitalWrite(m2_c,HIGH); digitalWrite(m2_d,HIGH);
digitalWrite(m3_a,HIGH); digitalWrite(m3_b,HIGH); digitalWrite(m3_c,HIGH); digitalWrite(m3_d,HIGH);
*/
digitalWrite(m1_a,LOW); digitalWrite(m1_b,LOW); digitalWrite(m1_c,LOW); digitalWrite(m1_d,LOW);
digitalWrite(m2_a,LOW); digitalWrite(m2_b,LOW); digitalWrite(m2_c,LOW); digitalWrite(m2_d,LOW);
digitalWrite(m3_a,LOW); digitalWrite(m3_b,LOW); digitalWrite(m3_c,LOW); digitalWrite(m3_d,LOW);
display.begin(SSD1306_SWITCHCAPVCC, 0x3C);  // initialize with the I2C addr 0x3D (for the 128x64)
display.clearDisplay();
}


void  loop(){
  bedien();
  zeitreise();
  if (zeit2 >10) {zeit2=0;}
  schaltleds();
  communicate();

}
int welch=0;
int stepi=0;
int istm1=0;
int istm2=0;
int istm3=0;
int istm4=0;
int way1=0; //y weg
int way2=0; //x weg
int hole1=10;
int hole2=80;
long ka=0;
int step2 =0;
int isty=0;
boolean zeropos=false;
void bedien(void) {
  if (zeit1 >=1) {
  if (digitalRead(tlinks) == HIGH && onpress[0] ==0) { onpress[0] =1; zeigzeugs();}     //minisound
  if (onpress[0] == 1) { onpress[1]++;}
  if (onpress[1] >= 10) { onpress[1] =0; onpress[0]=0;}
  if (digitalRead(tmitte) == HIGH && onpress[2] ==0) { onpress[2] =1;Serial1.print("MEOW");}

  if (onpress[2] == 1) { onpress[3]++;}
  if (onpress[3] >= 10) { onpress[3] =0; onpress[2]=0; }
  if (digitalRead(trechts) == HIGH && onpress[4] ==0) { onpress[4] =1; zeropos=true; step2=0; isty=0; getstartpos();}
  if (onpress[4] == 1) { onpress[5]++;}
  if (onpress[5] >= 13) { onpress[5] =0; onpress[4]=0;}
  zeit1=0;}
  if(welch >8)  {welch=0;}
  if(stepi >=2)  {stepi=0;}

}
void zeigzeugs2(){
display.clearDisplay();
display.setTextColor(WHITE);
display.setCursor(0,0);
display.setTextSize(4);
display.print("READY");
display.display();}
void zeigzeugs(){
display.clearDisplay();
display.setTextColor(WHITE);
display.setCursor(0,0);
display.setTextSize(2);
display.print("READY");
display.setCursor(0,15);

//display.print(hole1);
//display.print("PA6:");
display.print(istm4);
display.setTextSize(2);
display.print("WEG:");
display.print(way1);
display.setCursor(0,48);
display.print("WEG:");
display.print(way2);
display.display();
}
int motornachf=0;
void zeitreise(void){
  while ((millis()- tim) >=  50) {
 zeit1++; zeit2++;
  //motornachf++;
  tim = millis();
  }
}
int leds=0;
int ledcach=0;
void schaltleds() {
}
int merks=0;
int merks2=0;


void readmessiy(int how){
  istm1= analogRead(mess1a);
  istm2= analogRead(mess1b);
  if ((istm1) > (istm2+hole2) && merks==0 && how ==1) {way1++;  merks=1; }
  if ((istm1) > (istm2+hole2) && merks==0 && how ==0) {way1--;  merks=1; }
  if ((istm1) < (istm2+hole1) && merks==1 ) {merks=0;}
}
void readmessix(int how2){
  istm3= analogRead(mess2a);
  istm4= analogRead(mess2b);
  if ((istm3) > (istm4+500) && merks2==0 && how2 ==1) {way2++; merks2=1; }
  if ((istm3) > (istm4+500) && merks2==0 && how2 ==0) {way2--; merks2=1; }
  if ((istm3) < (istm4+500) && merks2==1) {merks2=0;}
}

boolean daax=false;
boolean daay=false;
boolean neboo=false;
boolean nenboo=false;
int richtung =0;
int richtung2 =0;
int motornachlauf=100; //warten bis gestoppt
// 0vorne links //1 hinten rechts
void movetox(int target) {
  if (target < way2) {richtung =0;}
  if (target > way2) {richtung =1;}
  readmessix(richtung);
  if (richtung == 1) {
  if (target > way2) {digitalWrite(m2_d,HIGH);daax =false;} //rechts
  if (target <= way2) {digitalWrite(m2_d,LOW);  daax =true;} }
  if (richtung == 0) {
  if (target < way2) {digitalWrite(m2_c,HIGH);daax =false;} //links
  if (target >= way2) {digitalWrite(m2_c,LOW);  daax =true;} }
}
void movetoy(int target2) {
  if (target2 < way1) {richtung2 =0;}
  if (target2 > way1) {richtung2 =1;}
  readmessiy(richtung2);
  if (richtung2 == 1) {
  if (target2 > way1) {digitalWrite(m1_a,HIGH);digitalWrite(m1_c,HIGH); daay=false;} //hinten
  if (target2 <= way1) {digitalWrite(m1_a,LOW); digitalWrite(m1_c,LOW); daay=true;}}
  if (richtung2 == 0) {
  if (target2 < way1) {digitalWrite(m1_b,HIGH);digitalWrite(m1_d,HIGH); daay=false;;} //vorne
  if (target2 >= way1) {digitalWrite(m1_b,LOW); digitalWrite(m1_d,LOW); daay=true;}}
}


void getstartpos(void){
  while (zeropos == true) {
    if (step2 ==0) {
digitalWrite(m2_b,HIGH);
  if (digitalRead(y1) ==LOW) {digitalWrite(m1_b,HIGH);}
  if (digitalRead(y1) ==HIGH){digitalWrite(m1_b,LOW);}
  if (digitalRead(y2) ==LOW) {digitalWrite(m1_d,HIGH);}
  if (digitalRead(y2) ==HIGH){digitalWrite(m1_d,LOW);}
  if (digitalRead(xL) ==LOW) {digitalWrite(m2_c,HIGH);}
  if (digitalRead(xL) ==HIGH){digitalWrite(m2_c,LOW);}
  if (digitalRead(y1) ==HIGH && digitalRead(y2) ==HIGH && digitalRead(xL) ==HIGH){
    digitalWrite(m2_b,LOW); delay(100);  way1=0; way2=0; step2=1;}}
  if (step2 ==1 ) {movetox(100); }
  if (step2 ==1 && daax ==true) {step2=2;}
  if (step2 ==2 ) {movetoy(100);}
  if (step2 ==2 && daay ==true) {step2=3;}
  if (step2 ==3) {way1=0; way2=0;
 digitalWrite(m2_b,LOW); zeigzeugs2();  delay(100);zeropos=false;}

}}
String  was="";
String data="";
String wasdata="";
int width=0;
int posx=0;
String cachs2="";
String washdata="";
boolean printdata =false;
int richtungs =0;
boolean loss=false;
boolean nexthoch =false;
int posyy=0;
int steppp=0;
void communicate(void) {

        int cachs2 = Serial1.read();
  if ((char)cachs2 == 'p'){was=""; data="";wasdata=""; loss=true;}
  while(loss ==true ) {
   int cachs = Serial1.read();
      was="";
      data="";
      was += (char)cachs;
      data += (char)cachs;
      if (isDigit(cachs)) {wasdata +=(char)cachs; }
      if (isDigit(cachs) && nexthoch ==true) {washdata +=(char)cachs;}
      if (nexthoch ==false) {washdata="";}

   if ( was == "w" ) {  //setze breite
        width= wasdata.toInt();
        wasdata== "";
        nexthoch=true;
        data="";
        was="";
        }

   if ( was == "h" ) {  //setze hoehe derzeile
        posyy= washdata.toInt();
        nexthoch=false;
        wasdata== "";
        data="";
        was="";
        }
  if ( data == "-") {
        printstuff[posx]=0;
       data="";
       posx++;
        }
  if (data == "#"){
       printstuff[posx]=1;
       data="";
       posx++;
 }
  if ( was == "d") {
  posx=0;
  richtungs=0;
  steppp=0;
  printlos=true;
  loss=false;
 }
  if ( was == "i") {
display.clearDisplay();
display.setCursor(0,0);
display.setTextSize(4);
display.setTextColor(WHITE);
display.print("MEOW");
display.display();
loss=false;
 }
  if ( was == "a") {
    isty=0;
  }}
 if (printlos == true) {

  if(steppp ==0) {movetox(width);}

  if (printstuff[way2] == 1) { digitalWrite(m2_a,HIGH); }
  if (printstuff[way2] == 0) {digitalWrite(m2_a,LOW);}
  if (daax == true && steppp==0) { digitalWrite(m2_a,LOW); steppp=1; }
  if (steppp==1) { movetoy(posyy); }
  if (daay == true && steppp==1) { steppp=2; }
  if (steppp==2) { movetox(0);  }
  if (daax == true && steppp==2 ) {Serial1.print("n"); steppp=0; printlos=false; }
 }
      }


//programm for drifing (currently pencil using) plotter.. x achse can be set movetox(1234); for move to xposition 1234 on sheep.. y movetoy(1234); same, if achse have reached daax or daay is setet true..
//it received character  "-" for nonepoint pencil on paper and "#" for pencil on paper.. together with line length and position of the x line in one transmition and gife "n" back if line printet and ready for next..
// have 3 keys on printer right get zero position (x and y is setet to zero 100points left from end of position taster), middle send "MEOW" to serial to prove connection
// on the head are 3x on/off/refersepoles 2wires connections aviable and one unused meassure wire.. currently 1 of the 2phase connections used for the harddisk headmover pencil pusher..
// MEOW now can print UV  pencil pictures (working on powerful 3phase engine and maybe a lightning do do art on other materials.. but first have to optimize speeds (the voltage for engines/pusher can be settzer from 5-33Volt
//by changing adjustable step-up the serial transmition datarete is 115200 baud, the software forwarding TCP port (127.0.0.1:8000) from my fash to serial com1<->ttl<->rs232 level converter=->STM32F103C8T6) is the freeware COMbyTCP
//its fun cant stop wathcing moving.. *purrrr*
//i know the code solution for driving my selfcreatet plotter/somthingelse devise is not the best maybe i get some ides sometime to optimize it (would send 0 and 1 over TCP but forrwarding software says its int32and not Byte port and cut connection so have to use - and #)
//but its working fine (with little errors sometimes)
//MEOW! its free use it or  parts if there is somethink usefull for you
//code by marderchen =^.^= watch coutubevideo for funtionview