// This is the source code associated with Robot Propulsion in a Microgravity by Parth Chaudhry
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27,16,2);

const int forward = 2;
const int backward = 4;

const int extensionTime = 1700;
const int SECONDS_TO_WAIT = 20;
const int INITIAL_WAIT = 10;

void setup() 
{
    // put your setup code here, to run once:

    // Initialize the LCD
    lcd.init();
    lcd.backlight();
    lcd.setCursor(0, 0);

    // Initialize the pins for the linear actuator control
    pinMode(forward,OUTPUT);
    pinMode(backward,OUTPUT);
}

int PotentiometerReading()
{
  int reading = analogRead(A0);
  if(reading < 50)
  {
    return 0;
  }
  else if(reading < 250)
  {
    return 1;
  }
  else if(reading < 500)
  {
    return 2;
  }
  else if(reading < 750)
  {
    return 3;
  }
  else if(reading < 1000)
  {
    return 4;
  }
  else
  {
    return 50;
  }
}

void loop() 
{
  // put your main code here, to run repeatedly:
  int impulseTimeIncrement = 100;
  int totalTime = 0;
  int waitTime = 0;
  int counter = 0;

  int potMeterReading = 0;

  // initial wait
  counter = 0;
  while(counter < INITIAL_WAIT)
  {
    lcd.clear();
    lcd.setCursor(0,0);
    lcd.print("Initial Wait.");
    lcd.setCursor(0,1);
    lcd.print("Time left(s):");
    lcd.setCursor(13,1);
    lcd.print(INITIAL_WAIT - counter);
    counter++;

    // Sleep 1 second
    delay(1000);
  }
  
  potMeterReading = PotentiometerReading();
  if(potMeterReading != 0)
  {
    totalTime = extensionTime + impulseTimeIncrement*potMeterReading;
    lcd.clear();
    lcd.setCursor(0,0);
    lcd.print("Starting actuator");
    lcd.setCursor(0,1);
    lcd.print("impulse time:");
    lcd.setCursor(12,1);
    lcd.print(totalTime - extensionTime);
    
    digitalWrite(forward,HIGH);
    digitalWrite(backward,LOW);
    
    
    delay(totalTime);
  }
  else
  {
    lcd.clear();
    lcd.setCursor(0,0);
    lcd.print("Pot Meter = 0");
  }
    
  digitalWrite(forward,LOW);
  digitalWrite(backward,HIGH);
  // Wait for the actuator to retract
  totalTime = extensionTime;
  delay(totalTime);

  counter = 0;
  while(counter < SECONDS_TO_WAIT)
  {
    lcd.clear();
    lcd.setCursor(0,0);
    lcd.print("Waiting to Check");
    lcd.setCursor(0,1);
    lcd.print("Time left(s):");
    lcd.setCursor(13,1);
    lcd.print(SECONDS_TO_WAIT - counter);
    counter++;

    // Sleep 1 second
    delay(1000);
  }
  
}