//parts of this code have been scavenged from code created by: Michael Pilcher

#include <AFMotor.h>
//manually calibrate your stage to find the values of xmove and y move for each objective you will be using
int xmove = 12;//[12 (100x)  30 (40x)  dp72] 
int ymove = 5;//[5  (100x)  13 (40x) dp72]
int xrpm = 150;
int yrpm = 150;
int j = 1; // integer used in scanning the array designating column number
//2-dimensional array for assigning the buttons and there high and low values
int Button[9][3] = {{1, 705, 715}, // button 1
                     {2, 735, 745}, // button 1b
                     {3, 830, 840}, // button 2
                     {4, 845, 860}, // button 2b
                     {5, 600, 620}, // button 3
                     {6, 640, 670}, // button 3b
                     {7, 300, 320}, // button 4
                     {8, 445, 460}, // button 4b
                     {9, 260, 265}, // button b
};
int analogpin = 0; // analog pin to read the buttons
int label = 0;  // setting button mode
int counter = 0; // how many times we have seen new value
long time = 0;  // the last time the output pin was sampled
int debounce_count = 50; // number of millis/samples to consider before declaring a debounced input
int current_state = 0;  // the debounced input value
int ButtonVal;
int column=8;
int row=50;
int row_count;
int column_count;
double movement;
int pause = 2800;
int frames=0;
int count = 0;
AF_Stepper motor1(100, 1);
AF_Stepper motor2(100, 2);

void setup()
{
  Serial.begin(9600);
  motor1.setSpeed(yrpm);  
   motor2.setSpeed(xrpm);  
}

void loop()
{
   // If we have gone on to the next millisecond
  if (millis() != time)
  {
    // check analog pin for the button value and save it to ButtonVal
    ButtonVal = analogRead(analogpin);
    if(ButtonVal == current_state && counter >0)
    {
      counter--;
    }
    if(ButtonVal != current_state)
    {
      counter++;
    }
    // If ButtonVal has shown the same value for long enough let's switch it
    if (counter >= debounce_count)
    {
      counter = 0;
      current_state = ButtonVal;
      //Checks which button or button combo has been pressed
      if (ButtonVal > 0)
      {
        ButtonCheck();
      }
    }
    time = millis();
  }
}

void ButtonCheck()
{
  // loop for scanning the button array.
  for(int i = 0; i <= 21; i++)
  {
    // checks the ButtonVal against the high and low vales in the array
    if(ButtonVal >= Button[i][j] && ButtonVal <= Button[i][j+1])
    {
      // stores the button number to a variable
      label = Button[i][0];
      Action();      
    }
  }
}

void Action()
{
  if(label == 1)
  {
    Serial.println("Button 1");//Y Coordinate down
    motor1.step(xmove, FORWARD, DOUBLE);  
  }
  if(label == 2)
  {
    Serial.println("Column =");
    column++;
    Serial.println(column);
}
  if(label == 3)
  {
    Serial.println("Button 2"); //Y Coordinate up
    motor1.step(xmove, BACKWARD, DOUBLE);   
}
  if(label == 4)
  {
    Serial.println("Initiated");

   row_count=1;
   movement=1;
   column_count=1;
   frames= row * column;
   while(count<= frames){
      if( movement==1){
       while(column_count <= column){
        motor1.step(xmove, FORWARD, DOUBLE); 
            Serial.println(column_count);
            Serial.println(movement);
        delay(pause);
        count++;
        column_count++;
       }
      }
       if( movement!= 1){
       while(column_count >= 1){
          motor1.step(xmove, BACKWARD, DOUBLE); 
          Serial.println(column_count);
          Serial.println(movement);
          delay(pause);
          count++;
          column_count--;
         }
       }
      if (column_count==column+1){
          if(movement == 1){
          motor2.step(ymove, BACKWARD, DOUBLE); 
              Serial.println(column_count);
              Serial.println(movement);
          delay(pause);
          count++;
          column_count = column;
          movement = movement * (-1);
          row_count++;
          
           motor1.step(xmove-2, BACKWARD, DOUBLE); 
          Serial.println(column_count);
          Serial.println(movement);
          delay(pause);
          count++;
          column_count--; 
          }
      }
      if (column_count == 0){
          if(movement ==- 1){
                 motor2.step(ymove, BACKWARD,  DOUBLE); 
                     Serial.println(column_count);
                     Serial.println(movement);
                 delay(pause);
                 count++;
                 column_count =1 ;
                 row_count++;
                 movement=1;
        }
      }
    }
  }
  if(label == 5)
  {
    Serial.println("Button 3");  //x coordinate to the left
    motor2.step(ymove, FORWARD, DOUBLE); 
  }
  if(label == 6)
  {
    Serial.println("Row =");
    row++;
    Serial.println(row);
  }
  if(label == 7)
  {
    Serial.println("Button 4");  //x coordinate to the right
    motor2.step(ymove, BACKWARD, DOUBLE);       
  }
  if(label == 8)
  {
    Serial.println("reset");
  }
  if(label == 9)
  {
    Serial.println("switch");
  }
}