///button constants
const int startbuttonPin = 8;
const int searchbuttonPin = 9;
int startbuttonState;             // the current reading from the input pin
int laststartButtonState = LOW;   // the previous reading from the input pin
int searchbuttonState;             // the current reading from the input pin
int lastsearchButtonState = LOW;   // the previous reading from the input pin
// the following variables are unsigned long's because the time, measured in miliseconds,
// will quickly become a bigger number than can be stored in an int.
unsigned long laststartDebounceTime = 0;  // the last time the output pin was toggled
unsigned long lastsearchDebounceTime = 0;  // the last time the output pin was toggled
unsigned long debounceDelay = 50;    // the debounce time; increase if the output flickers

/////encoder constants
int pulses, A_SIG=0, B_SIG=1;

/////centring constants
int count;
int highrange;
int lowrange;
int i = 0;
int range = 0;
int led = 13;
int search = 0;
int sub=0;
int dsub=0;


//////lcd display
// include the library code:
#include <LiquidCrystal.h>

LiquidCrystal lcd(12, 11, 7, 6, 5, 4);



void setup() 
{ 
  
  pinMode(led, OUTPUT);
  
  //////button setup
  pinMode(startbuttonPin, INPUT);
  pinMode(searchbuttonPin, INPUT);
  
  
  /////encoder setup
  attachInterrupt(0, A_RISE, RISING);
  attachInterrupt(1, B_RISE, RISING);
  Serial.begin(115200);
  
  //////lcd setup
  // set up the LCD's number of columns and rows:
  lcd.begin(16, 2);
    lcd.setCursor(0, 0);
  lcd.print("Vinesh Saini -AF");
  lcd.display();
  delay(1500);
  lcd.noDisplay();
  delay(500);
  
  lcd.setCursor(0,1);
  lcd.print("Centring Project");
  lcd.display();
  delay(2000);
 
  
    lcd.clear();
    lcd.setCursor(0, 0);
  lcd.print("Vinesh's Project" );
  lcd.display();
  delay(1000);

  
   

}



void loop() 
{
  /////lcd logic
  

  // Print a message to the LCD.

    lcd.setCursor(0, 0);
  lcd.print("Vinesh's Project" );
 


  if(i==0)
  {
  lcd.setCursor(0, 1);
  lcd.print(pulses);
  
  
  }
  if(pulses < 1010 && pulses >990)
   {
     lcd.clear();
     lcd.setCursor(0, 1);
  lcd.print(pulses);
  
   }  
   
     if(pulses < 100 && pulses >95)
   {
     lcd.clear();
    lcd.setCursor(0, 1);
  lcd.print(pulses);
  
   }  
  
   
   if(pulses < 3 && pulses > -3 && pulses !=0)
  {
     lcd.clear();
     lcd.setCursor(0, 1);
  lcd.print(pulses);
  
   }
   
   if(pulses <-90 && pulses > -110)
  {
    lcd.clear(); 
    lcd.setCursor(0, 1);
  lcd.print(pulses);
  
   
  }
  
    if(pulses <-995 && pulses > -1010)
  {
    lcd.clear();
    lcd.setCursor(0, 1);
  lcd.print(pulses);
     
  }
  
   if(i==2)
   { 
       
  lcd.setCursor(5, 1);
  lcd.print(search);
  
  if(search < 1050 && search >950)
   {
     lcd.clear();
     lcd.setCursor(0, 1);
    lcd.print(count);
     lcd.setCursor(5, 1);
    lcd.print(search);
   }  
   
     if(search < 100 && search >90)
   {
     lcd.clear();
     lcd.setCursor(0, 1);
    lcd.print(count);
     lcd.setCursor(5, 1);
    lcd.print(search);
   }  
  
   
   if(search < 10 && search > -10)
  {
     lcd.clear();
     lcd.setCursor(0, 1);
    lcd.print(count);
     lcd.setCursor(5, 1);
    lcd.print(search);
   }
   
   if(search <-90 && search > -110)
  {
     lcd.clear();
     lcd.setCursor(0, 1);
    lcd.print(count);
     lcd.setCursor(5, 1);
    lcd.print(search);
   
  }
  
    if(search <-990 && search > -1100)
  {
     lcd.clear();
     lcd.setCursor(0, 1);
    lcd.print(count);
     lcd.setCursor(5, 1);
    lcd.print(search);
   
  }
 }
  
 ///////button debouncing logic
 
 
  // read the state of the switch into a local variable:
  int startreading = digitalRead(startbuttonPin);

  // check to see if you just pressed the button
  // (i.e. the input went from LOW to HIGH),  and you've waited
  // long enough since the last press to ignore any noise:

  // If the switch changed, due to noise or pressing:
  if (startreading != laststartButtonState) 
  {
    // reset the debouncing timer
    laststartDebounceTime = millis();
  }
  
  if ((millis() - laststartDebounceTime) > debounceDelay) 
  {
    // whatever the reading is at, it's been there for longer
    // than the debounce delay, so take it as the actual current state:

    // if the button state has changed:
    if (startreading != startbuttonState) 
    {
      startbuttonState = startreading;

      // only toggle the LED if the new button state is HIGH
      if (startbuttonState == HIGH) 
      {
        count = 0;
        pulses = 0;
        i = 0;
       
        delay(500);
        int startbuttonState = LOW;
        lcd.clear();
      }
    }
  }


  ///////////////////////////

  // save the reading.  Next time through the loop,
  // it'll be the lastButtonState:
  laststartButtonState = startreading;
  
  
  /////////////////////////////////////////////////////////
  
  
  // read the state of the switch into a local variable:
  int searchreading = digitalRead(searchbuttonPin);

  // check to see if you just pressed the button
  // (i.e. the input went from LOW to HIGH),  and you've waited
  // long enough since the last press to ignore any noise:

  // If the switch changed, due to noise or pressing:
  if (searchreading != lastsearchButtonState) 
  {
    // reset the debouncing timer
    lastsearchDebounceTime = millis();
  }
  
  if ((millis() - lastsearchDebounceTime) > debounceDelay) 
  {
    // whatever the reading is at, it's been there for longer
    // than the debounce delay, so take it as the actual current state:

    // if the button state has changed:
    if (searchreading != searchbuttonState) 
    {
      searchbuttonState = searchreading;

      // only toggle the LED if the new button state is HIGH
      if (searchbuttonState == HIGH) 
      {
        i = 1;
        count = pulses;
        delay(200);
        range = count / 2 ;
        highrange = range + 5;
        lowrange = range - 5;
        delay(500);
        i++;
        int searchbuttonState = LOW;
       
        
      }
    }
    
  }

  ///////////////////////////

  // save the reading.  Next time through the loop,
  // it'll be the lastButtonState:
  lastsearchButtonState = searchreading;
  
  
  
  
  
   if(i==2 && highrange >= pulses && lowrange <= pulses)
   {

     digitalWrite(led, HIGH); 
      lcd.setCursor(0, 0);
  lcd.print("Vinesh's Project" );
   lcd.setCursor(0, 1);
    lcd.print(count);
     lcd.setCursor(10, 1);
       lcd.print("CENTRE");
       delay(1000);
       
   }
    digitalWrite(led, LOW);
    
    
    sub = count - pulses;
    dsub = sub * 2;
    search = count - dsub;
        
   
    
   
 }







////////encoder's reading_logic

void A_RISE()
{
 detachInterrupt(0);
 A_SIG=1;
 
 if(B_SIG==0)
 pulses++;//moving forward
 if(B_SIG==1)
 pulses--;//moving reverse
 Serial.println(pulses);
 attachInterrupt(0, A_FALL, FALLING);
}

void A_FALL()
{
 detachInterrupt(0);
 A_SIG=0;
 
 if(B_SIG==1)
 pulses++;//moving forward
 if(B_SIG==0)
 pulses--;//moving reverse
 Serial.println(pulses);
 attachInterrupt(0, A_RISE, RISING);  
}

void B_RISE()
{
 detachInterrupt(1);
 B_SIG=1;
 
 if(A_SIG==1)
 pulses++;//moving forward
 if(A_SIG==0)
 pulses--;//moving reverse
 Serial.println(pulses);
 attachInterrupt(1, B_FALL, FALLING);
}

void B_FALL()
{
 detachInterrupt(1);
 B_SIG=0;
 if(A_SIG==0)
 pulses++;//moving forward
 if(A_SIG==1)
 pulses--;//moving reverse
 Serial.println(pulses);
 attachInterrupt(1, B_RISE, RISING);
}