#include <Servo.h>
#define NBR_SERVOS 1


int RotEn = 2;
int RotClk = 4;
int RotDir = 3;

int RotEn2 = 11;
int RotClk2 = 10;
int RotDir2 = 9;

int enabled = 0;
int MinAuslenk = 0;
int MaxAuslenk = 105;
int DefAuslenk = 90;
int Auslenk = 0;
int AuslenkDir=0;
int dir = 0;
int windings = 0;
int winding = 0;
int Speed = 1;
int debug = 0;
int start = 0;
int WireTh = 10;
String content = "";
String tcontent = "";
char character;

void setup(){
  Serial.begin(9600);
  pinMode(RotEn,OUTPUT);

  pinMode(RotClk,OUTPUT);
  pinMode(RotDir,OUTPUT);
  pinMode(RotClk2,OUTPUT);
  pinMode(RotDir2,OUTPUT);
  pinMode(RotEn2,OUTPUT);

  Auslenk = DefAuslenk;
  digitalWrite(RotEn,1);
  digitalWrite(RotEn2,1);

}

void doturn(int ldir){
    digitalWrite(RotDir,ldir);
    for(int i = 1;i<200;i++){
      digitalWrite(RotClk,1);
      delayMicroseconds(100);
      digitalWrite(RotClk,0);
      delay(11-Speed);
    }
}
void dosteps(int ldir2,int steps){

    digitalWrite(RotDir2,ldir2);
    for(int i = 1;i<steps;i++){
      digitalWrite(RotClk2,1);
      delayMicroseconds(100);
      digitalWrite(RotClk2,0);
      delay(1);
    }
}

void loop(){
   while(Serial.available()>0) {
    character = Serial.read();
    if(character==0x7C){
      content = tcontent;
      tcontent = "";
      content.replace("|","");
      if(debug){
        Serial.println("got "+ content + " with length "+content.length()); // debug
      }
        if(content=="help"){
          Serial.println("winderenable enables the winder----------------------------------");
          Serial.println("winderdisable disables the winder--------------------------------");
          Serial.println("start starts the winder------------------------------------------");
          Serial.println("reset resets the winder------------------------------------------");
          Serial.println("windings<number> sets the num of windings------------------------");
          Serial.println("minsturn sets servos min rotation pos----------------------------");
          Serial.println("maxsturn sets servos max rotation pos----------------------------");
          Serial.println("servturn turns the servo to the entered pos----------------------");
          Serial.println("debug insults you and then it toggles the command debugger-------");
          Serial.println("speed set the speed from 1 to 10---------------------------------");
          Serial.println("printvars prints all variables like speed, windings and isStarted");

        }


        if(content=="winderenable"){
          enabled = 1;
          Serial.println("Winder enabled");
        }
        if(content=="winderdisable"){
          enabled = 0;
          Serial.println("Winder disabled");
        }
        if(content=="start"){
          start = 1;
          Serial.print("Starting wind with ");
          Serial.print(windings);
          Serial.println(" windings");
        }
        if(content=="pause"){
          start = 0;
          Serial.print("Paused wind at ");
          Serial.print(winding);
          Serial.println(" winding");
        }
        if(content=="turnr"){
          digitalWrite(RotEn,0);
          digitalWrite(RotDir,0);
          for(int i = 1;i<20;i++){
            digitalWrite(RotClk,1);
            delayMicroseconds(100);
            digitalWrite(RotClk,0);
            delay(11-Speed);
          }
          digitalWrite(RotEn,1);
        }
        if(content=="turnl"){
          digitalWrite(RotEn,0);
          digitalWrite(RotDir,1);
          for(int i = 1;i<20;i++){
            digitalWrite(RotClk,1);
            delayMicroseconds(100);
            digitalWrite(RotClk,0);
            delay(11-Speed);
          }
          digitalWrite(RotEn,1);
        }
        if(content=="reset"){
          enabled = 0;
          start = 0;
          winding = 0;
          WireTh=0;
          AuslenkDir=0;
          Serial.println("Resetted!");
        }
        if(content.substring(0,5)=="speed"){
          content = content.substring(5,13);
          Speed = content.toInt();
          if(Speed>=10){Speed=10;}
          if(Speed<=1){Speed=1;}
          Serial.print("Set speed to ");
          Serial.println(Speed);
        }
        if(content.substring(0,8)=="windings"){
          content = content.substring(8,16);
          windings = content.toInt();
          Serial.println(windings);
          Serial.print("Set windings to ");
          Serial.println(windings);
        }
        if(content.substring(0,8)=="maxsturn"){
          content = content.substring(8,16);
          MaxAuslenk = content.toInt();
          Serial.print("Set max turn to ");
          Serial.println(MaxAuslenk);
        }
        if(content.substring(0,8)=="servturl"){
          digitalWrite(RotEn2,0);
          content = content.substring(8,16);
          int Stepps=content.toInt();
          dosteps(0,Stepps);
          digitalWrite(RotEn2,1);
        }
        if(content.substring(0,8)=="servturr"){
          digitalWrite(RotEn2,0);
          content = content.substring(8,16);
          int Stepps=content.toInt();
          dosteps(1,Stepps);
          digitalWrite(RotEn2,1);
        }
        if(content.substring(0,8)=="wirethic"){
          content = content.substring(8,16);
          WireTh=content.toInt();
          Serial.print("Set wirethickness (steps per rotation) to ");
          Serial.println(WireTh);
        }
        if(content=="debug"){
          debug != debug;
          Serial.println("no way nigga, what r u doing? ... its toggled.");
        }
        if(content=="printvars"){
          Serial.print("Windings ");
          Serial.println(windings);
          Serial.print("Winding ");
          Serial.println(winding);
          Serial.print("Start ");
          Serial.println(start);
          Serial.print("Enabled ");
          Serial.println(enabled);
          Serial.print("Speed ");
          Serial.println(Speed);
          Serial.print("MaxAuslenk ");
          Serial.println(MaxAuslenk);


        }

      content = "";
    }
    tcontent.concat(character);
  }

  if(enabled){
    digitalWrite(RotEn,!start);
    digitalWrite(RotEn2,!start);
    if(start){

      if(Auslenk>MaxAuslenk){Auslenk=MaxAuslenk;}
      if(Auslenk<MinAuslenk){Auslenk=MinAuslenk;}


      if(start){

        winding = winding + 1;

        if(winding <=windings){

          if(!AuslenkDir){
            Auslenk = Auslenk + 1;
            dosteps(0,WireTh);
            if(Auslenk>=MaxAuslenk){AuslenkDir=1;};
          }else{
            Auslenk = Auslenk - 1;
            dosteps(1,WireTh);
            if(Auslenk<=MinAuslenk){AuslenkDir=0;};
          }
          doturn(dir);

        }else{
          start = 0;
          Serial.println("Done Winding!");
          winding=0;
          Auslenk=DefAuslenk;
        }
      //delay(10);

      }
    }
  }

}