/*
 * MotorControl.c
 *
 * Created: 11/18/2017 12:46:37 PM
 *  Author: Gerardo
 */ 
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <avr/io.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include "io.c"
#include "keypad.h"

volatile unsigned char TimerFlag = 0; // TimerISR() sets this to 1. C programmer should clear to 0.
unsigned long _avr_timer_M = 1; // Start count from here, down to 0. Default 1 ms.
unsigned long _avr_timer_cntcurr = 0; // Current internal count of 1ms ticks

long time = 0;
int exposureMaxTime = 0;
long exposureMaxTimeToCompare = 0;  //exposureMaxTimeToCompare = exposureMaxTime * 12000;

int seekLightFlag = 0;  //If set to 1 we are seeking light. If 0, seeking dark   
unsigned short frontLDR = 0;       //Front LDR
unsigned short frontLeftLDR = 0;   //Front Left LDR
unsigned short frontRightLDR = 0;  //Front Right LDR
unsigned short backLeftLDR = 0;	   //back Left LDR
unsigned short backRightLDR = 0;   //back Right LDR
unsigned short topLDR = 0;   //TOP LDR
unsigned short obstacleFlag = 0;   //Flag raised if obstacle has been detected
int topLdrFlag = 0;   //TOP LDR Flag

char moisterVoltage = 0;     //MoisterSensorInput
unsigned long moister = 0;	 //Moister value 1 - 7
unsigned long indexM = 0;     //Used to place the number of reading for saving purposes for moister
unsigned long maxIndexM = 0;  //Used to know the amount of moister readings taken for moister

char strC[16];
char strF[16];
float temperatureVoltage = 0; //Raw Voltage from temperature sensor
int temperatureC = 0;      //Used to store temperature in Celsius
int temperatureF = 0;		//Used to store temperature in Fahrenheit
unsigned long indexF = 0;   //Used to place the number of reading for saving purposes for Temperature F
unsigned long maxIndexF = 0;  //Used to know the amount of Temperature readings taken for Temperature F

unsigned char keyPadValue = 0 ; 
unsigned long minimumMoisterKey = 0;	 //Moister value 1 - 7 chosen by user
unsigned char key = 0;
unsigned char beginKey = 0;
unsigned char historyKey = 0;

int toggleStepper = 0;    //Used to move exit the while loop for the stepper motor function
int stepperCounter = 0;	      //Used the traverse the stepper motor's output
int numPhases = 0;		  //Used to set the amount of rotation
int phaseCounter = 0;	  //Used to compare the value of numPhase
int motorOutputPortA = 0; //Used to mask PortA

int darkCounter = 0;

void ADC_init()
{
	ADCSRA |= (1 << ADEN) | (1 << ADSC) | (1 << ADATE);
	// ADEN: setting this bit enables analog-to-digital conversion.
	// ADSC: setting this bit starts the first conversion.
	// ADATE: setting this bit enables auto-triggering. Since we are
	// in Free Running Mode, a new conversion will trigger whenever
	// the previous conversion completes.
}
void EEPROM_write(unsigned int uiAddress, unsigned char ucData)
{
	/* Wait for completion of previous write */
	while(EECR & (1<<EEPE))
	;
	/* Set up address and Data Registers */
	EEAR = uiAddress;
	EEDR = ucData;
	/* Write logical one to EEMPE */
	EECR |= (1<<EEMPE);
	/* Start eeprom write by setting EEPE */
	EECR |= (1<<EEPE);
}
unsigned char EEPROM_read(unsigned int uiAddress)
{
	/* Wait for completion of previous write */
	while(EECR & (1<<EEPE))
	;
	/* Set up address register */
	EEAR = uiAddress;
	/* Start eeprom read by writing EERE */
	EECR |= (1<<EERE);
	/* Return data from Data Register */
	return EEDR;
}
void TimerOn()
{
	TCCR1B = 0x0B;
	OCR1A = 125;
	TIMSK1   = 0x02;
	TCNT1 = 0;
	_avr_timer_cntcurr = _avr_timer_M;
	SREG |= 0x80;
}
void TimerOff()
{
	TCCR1B = 0x00;
}
void TimerISR()
{
	TimerFlag = 1;
}
ISR(TIMER1_COMPA_vect)
{
	_avr_timer_cntcurr--;
	if(_avr_timer_cntcurr == 0)
	{
		TimerISR();
		_avr_timer_cntcurr = _avr_timer_M;
	}
}
void TimerSet (unsigned long M)
{
	_avr_timer_M = M;
	_avr_timer_cntcurr = _avr_timer_M;
}

//Motions Faith Tran is wayyyyy to Awesome, you dig?
void moveForward()//Tells unit to move forward
{
	PORTB = PORTB | 0x28;     //     0010 1000   1A and 4A on the L293DNE motor driver  0 RightBback RightFront LeftBack LeftFront 0 0 0(Wheels)
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Forward");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(250);
	PORTB = PORTB & 0x00;
}
void moveBackward()
{
	PORTB = PORTB | 0x50;  //     0101 0000   2A and 3A on the L293DNE motor driver
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Backward");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(150);
	PORTB = PORTB & 0x00;
}
void moveLeft()
{
	PORTB =  PORTB | 0x30;  //     0011 0000   2A and 3A on the L293DNE motor driver
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Left");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(150);
	PORTB = PORTB & 0x00;  // 0111 1000
}
void moveRight()
{
	PORTB = PORTB | 0x48;
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Right");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(350);
	PORTB = PORTB & 0x00;
}
void stop()
{
	PORTB = (PORTB & 0x00);
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Stop");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(100);
	PORTB = PORTB & 0x00;  // 0111 1000
}
void moveAroundObject()
{
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "moveAroundObject");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(100);

	//Stop
	PORTB = (PORTB & 0x00);
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Stop");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(2000);
	PORTB = PORTB & 0x00;  // 0111 1000
	
	//BackWard
	PORTB = PORTB | 0x50;  //     0101 0000   2A and 3A on the L293DNE motor driver
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Backward");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(100);
	PORTB = PORTB & 0x00;
	
	//Right
	PORTB = PORTB | 0x48;
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Right");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(350);
	PORTB = PORTB & 0x00;
	
	//Forward
	PORTB = PORTB | 0x28;     //     0010 1000   1A and 4A on the L293DNE motor driver  0 RightBback RightFront LeftBack LeftFront 0 0 0(Wheels)
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Forward");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(1300);
	PORTB = PORTB & 0x00;
	
	//Left
	PORTB =  PORTB | 0x30;  //     0011 0000   2A and 3A on the L293DNE motor driver
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Left");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(850);
	PORTB = PORTB & 0x00;  // 0111 1000
	
	//Stop
	PORTB = (PORTB & 0x00);
	LCD_init();// Initializes the LCD display
	LCD_DisplayString(1, "Stop");// Starting at position 1 on the LCD screen, writes The Sun is near
	delay_ms(2000);
	PORTB = PORTB & 0x00;  // 0111 1000
}
void moveToHighestIntensity()
{	
	obstacleFlag = PINA & 0x02;
	
	PORTB = (PORTB & 0x00);    //Select Line Y0  0000 0000  frontLDR
	ADC_init();
	ADMUX = 0x00;              //Table 25.4 in Atmel in the data sheet has bit settings
	delay_ms(100);
	frontLDR = ADC;				//Assigning the current analog value
	
	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x01;   //Select Line Y1  0000 0001  frontLeftLdr
	delay_ms(100);
	frontLeftLDR = ADC;
	
	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x02;   //Select Line Y2  0000 0010  frontRightLdr
	delay_ms(100);
	frontRightLDR = ADC;
	
	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x03;   //Select Line Y3  0000 0011  backLeftLdr
	delay_ms(100);
	backLeftLDR = ADC;
	
	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x04;   //Select Line Y4  0000 0011  backRightLdr
	delay_ms(100);
	backRightLDR = ADC;

	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x05;   //Select Line Y5  0000 0101  topLdr
	delay_ms(100);
	topLDR = ADC;
	PORTA = 0x00;
	delay_ms(250);
	
	/*if(obstacleFlag)              //Adding the signal from the arduino nano
	{
		LCD_DisplayString(27,"Object");
		delay_ms(100);
		LCD_ClearScreen();
		moveAroundObject();
		obstacleFlag = 0x00;
	}*/
	
	if((frontLDR > frontLeftLDR) && (frontLDR > frontRightLDR) && (frontLDR > backLeftLDR) && (frontLDR > backRightLDR) && (frontLDR > topLDR)) //Comparing light intensity readings
	{
		LCD_DisplayString(17,"FRONT");
		delay_ms(100);
		LCD_ClearScreen();
		moveForward();
		topLdrFlag = 0;
	}
	else if((frontLeftLDR > frontLDR)  && (frontLeftLDR > frontRightLDR) && (frontLeftLDR > backLeftLDR) && (frontLeftLDR > backRightLDR) && (frontLeftLDR> topLDR))
	{
		topLdrFlag = 0;
		LCD_DisplayString(17,"FRONT LEFT");
		delay_ms(100);
		LCD_ClearScreen();
		moveLeft();
	}
	else if((frontRightLDR > frontLDR) && (frontRightLDR > frontLeftLDR) && (frontRightLDR > backLeftLDR) && (frontRightLDR > backRightLDR) && (frontRightLDR > topLDR))
	{
		topLdrFlag = 0;
		LCD_DisplayString(17,"FRONT RIGHT");
		delay_ms(100);
		LCD_ClearScreen();
		moveRight();
	}
	else if((backLeftLDR > frontLDR) && (backLeftLDR > frontLeftLDR) && (backLeftLDR > frontRightLDR) && (backLeftLDR > backRightLDR) && (backLeftLDR > topLDR))
	{
		topLdrFlag = 0;
		LCD_DisplayString(17,"BACK LEFT");
		delay_ms(100);
		LCD_ClearScreen();
		moveLeft();
	}
	else if((backRightLDR > frontLDR) && (backRightLDR > frontLeftLDR) && (backRightLDR > frontRightLDR) && (backRightLDR > backLeftLDR) && (backRightLDR > topLDR))
	{
		topLdrFlag = 0;
		LCD_DisplayString(17,"BACK RIGHT");
		delay_ms(100);
		LCD_ClearScreen();
		moveRight();
	}
	else if((topLDR > frontLDR) && (topLDR > frontLeftLDR) && (topLDR > frontRightLDR) && (topLDR > backLeftLDR) && (topLDR > backRightLDR))
	{
		topLdrFlag = 1;
		LCD_DisplayString(17,"TOP TOP");
		delay_ms(100);
		LCD_ClearScreen();
		stop();
	}
	else
	stop();
}
void moveToLowestIntensity()
{
	obstacleFlag = PINA & 0x02;
	
	PORTB = (PORTB & 0x00);    //Select Line Y0  0000 0000  frontLDR
	ADC_init();
	ADMUX = 0x00;              //Table 25.4 in Atmel in the data sheet has bit settings
	delay_ms(100);
	frontLDR = ADC;				//Assigning the current analog value
	
	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x01;   //Select Line Y1  0000 0001  frontLeftLdr
	delay_ms(100);
	frontLeftLDR = ADC;
	
	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x02;   //Select Line Y2  0000 0010  frontRightLdr
	delay_ms(100);
	frontRightLDR = ADC;
	
	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x03;   //Select Line Y3  0000 0011  backLeftLdr
	delay_ms(100);
	backLeftLDR = ADC;
	
	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x04;   //Select Line Y4  0000 0011  backRightLdr
	delay_ms(100);
	backRightLDR = ADC;

	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x05;   //Select Line Y5  0000 0101  topLdr
	delay_ms(100);
	topLDR = ADC;
	PORTA = 0x00;
	delay_ms(250);
	
	/*if(obstacleFlag)              //Adding the signal from the arduino nano
	{
		LCD_DisplayString(27,"Object");
		delay_ms(100);
		LCD_ClearScreen();
		moveAroundObject();
		obstacleFlag = 0x00;
	}*/
	
	if((frontLDR > frontLeftLDR) && (frontLDR > frontRightLDR) && (frontLDR > backLeftLDR) && (frontLDR > backRightLDR) && (frontLDR > topLDR)) //Comparing light intensity readings
	{
		LCD_DisplayString(17,"FRONT");
		delay_ms(100);
		LCD_ClearScreen();
		moveBackward();
		topLdrFlag = 0;
	}
	else if((topLDR < frontLDR) && (topLDR < frontLeftLDR) && (topLDR < frontRightLDR) && (topLDR < backLeftLDR) && (topLDR < backRightLDR))
	{
		topLdrFlag = 1;
		LCD_DisplayString(17,"TOP TOPP");
		delay_ms(100);
		LCD_ClearScreen();
		stop();
		darkCounter = darkCounter + 1;
	}
	else if((frontLeftLDR > frontLDR)  && (frontLeftLDR > frontRightLDR) && (frontLeftLDR > backLeftLDR) && (frontLeftLDR > backRightLDR) && (frontLeftLDR> topLDR))
	{
		topLdrFlag = 0;
		LCD_DisplayString(17,"FRONT LEFT");
		delay_ms(100);
		LCD_ClearScreen();
		moveRight();
	}
	else if((frontRightLDR > frontLDR) && (frontRightLDR > frontLeftLDR) && (frontRightLDR > backLeftLDR) && (frontRightLDR > backRightLDR) && (frontRightLDR > topLDR))
	{
		topLdrFlag = 0;
		LCD_DisplayString(17,"FRONT RIGHT");
		delay_ms(100);
		LCD_ClearScreen();
		moveLeft();
	}
	else if((backLeftLDR > frontLDR) && (backLeftLDR > frontLeftLDR) && (backLeftLDR > frontRightLDR) && (backLeftLDR > backRightLDR) && (backLeftLDR > topLDR))
	{
		topLdrFlag = 0;
		LCD_DisplayString(17,"BACK LEFT");
		delay_ms(100);
		LCD_ClearScreen();
		moveRight();
	}
	else if((backRightLDR > frontLDR) && (backRightLDR > frontLeftLDR) && (backRightLDR > frontRightLDR) && (backRightLDR > backLeftLDR) && (backRightLDR > topLDR))
	{
		topLdrFlag = 0;
		LCD_DisplayString(17,"BACK RIGHT");
		delay_ms(100);
		LCD_ClearScreen();
		moveLeft();
	}
	else if((backRightLDR + backLeftLDR) > (frontRightLDR + frontLeftLDR))
	{
		topLdrFlag = 0;
		LCD_DisplayString(17,"BACK RIGHT");
		delay_ms(100);
		LCD_ClearScreen();
		moveForward();
	}
	else
	stop();
}
void openValve()
{
	time = time + 31;
	numPhases = (90 / 5.625) * 64;
	toggleStepper = 0;
	LCD_DisplayString(1, "Dispensing water");// Starting at position 1 on the LCD screen, writes The Sun is near
	if(toggleStepper == 0)
	{
		while(numPhases > phaseCounter)
		{
			if(stepperCounter == 0)
			{
				motorOutputPortA = PORTA | 0x24;  //Masking the varialble which will equal PORTA's output
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;  //Resetting the variable which will equal PORTA'a output
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 1)
			{
				motorOutputPortA = PORTA | 0x20;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 2)
			{
				motorOutputPortA = PORTA | 0x30;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 3)
			{
				motorOutputPortA = PORTA | 0x10;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 4)
			{
				motorOutputPortA = PORTA | 0x18;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 5)
			{
				motorOutputPortA = PORTA | 0x08;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 6)
			{
				motorOutputPortA = PORTA | 0x0C;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 7)
			{
				motorOutputPortA = PORTA | 0x04;
				PINA = motorOutputPortA;
				stepperCounter = 0;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			if(numPhases == phaseCounter)
			{
				numPhases = 0;
				phaseCounter = 0;
				toggleStepper = 1;
			}
			while(!TimerFlag);
			TimerFlag = 0;
		}
	}
	
}
void closeValve()
{
	time = time + 31;
	numPhases = (90 / 5.625) * 64;
	toggleStepper = 0;
	LCD_DisplayString(1, "Closing water   valve");// Starting at position 1 on the LCD screen, writes The Sun is near
	if(toggleStepper == 0)
	{
		while(numPhases > phaseCounter)
		{
			if(stepperCounter == 0)
			{
				motorOutputPortA = PORTA | 0x04;  //Masking the varialble which will equal PORTA's output
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;  //Resetting the variable which will equal PORTA'a output
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 1)
			{
				motorOutputPortA = PORTA | 0x0C;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 2)
			{
				motorOutputPortA = PORTA | 0x08;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 3)
			{
				motorOutputPortA = PORTA | 0x18;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 4)
			{
				motorOutputPortA = PORTA | 0x10;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 5)
			{
				motorOutputPortA = PORTA | 0x30;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 6)
			{
				motorOutputPortA = PORTA | 0x20;
				PINA = motorOutputPortA;
				stepperCounter = stepperCounter + 1;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			else if(stepperCounter == 7)
			{
				motorOutputPortA = PORTA | 0x24;
				PINA = motorOutputPortA;
				stepperCounter = 0;
				motorOutputPortA = 0x00;
				phaseCounter = phaseCounter + 1;
			}
			if(numPhases == phaseCounter)
			{
				numPhases = 0;
				phaseCounter = 0;
				toggleStepper = 1;
			}
			while(!TimerFlag);
			TimerFlag = 0;
		}
	}
	PORTA = PORTA & 0x00;
}
//Data Collection
void getMoister()
{
	PORTB = (PORTB & 0x00);
	ADC_init();
	ADMUX = 0x00;
	PORTB = PORTB | 0x06;   //Selecting Moister Sensor
	delay_ms(100);
	moisterVoltage = ADC;
	if(ADC >= 0 && ADC <15)
	moister = 0;
	else if(ADC >= 15 && ADC <25)
	moister = 1;
	else if(ADC >= 25 && ADC <35)
	moister = 2;
	else if(ADC >= 35 && ADC <45)
	moister = 3;
	else if(ADC >= 45 && ADC <55)
	moister = 4;
	else if(ADC >= 55 && ADC <65)
	moister = 5;
	else if(ADC >= 65 && ADC <75)
	moister = 6;
	else if(ADC >= 75)
	moister = 7;
	LCD_DisplayString(17,"Moister=  " );
	LCD_Cursor(25);
	LCD_WriteData(moister + '0');
	delay_ms(100);
	indexM = indexM + 1;
	maxIndexM = indexM;
}
void saveMoister()
{
	EEPROM_write(indexM, moister);
}
void getTemperature()
{
		PORTB = (PORTB & 0x00);
		ADC_init();
		ADMUX = 0x00;
		PORTB = PORTB | 0x07;   //Select Line Y7  0000 0111  temperatureSensor
		delay_ms(100);
		temperatureVoltage = ADC;//* (50000/512);
		temperatureF = (temperatureVoltage * 500/1024) - 16; 
		temperatureC = (temperatureF - 32) * .55;	
		LCD_DisplayString(1,"Temp");
		delay_ms(50);
		LCD_DisplayString(6,itoa(temperatureC, strC, 10));
		delay_ms(50);
		LCD_DisplayString(8,"C");
		delay_ms(50);
		LCD_DisplayString(13,itoa(temperatureF, strF, 10));
		delay_ms(50);
		LCD_DisplayString(15,"F");
		delay_ms(50);
		indexM = indexM + 1;
		maxIndexM = indexM;
}
void saveTemperature()
{
	EEPROM_write(indexM, temperatureF);
}
void displayMemory()
{
	LCD_DisplayString(17,"Temperature=  F");
	delay_ms(100);
	LCD_DisplayString(29, itoa(EEPROM_read(indexM), strF, 10));//This killed me to figure out
	delay_ms(100);
	indexM = indexM + 1;

	LCD_DisplayString(1,"Moister= " );
	LCD_Cursor(9);
	LCD_WriteData(EEPROM_read(indexM) + '0');
	delay_ms(100);
	indexM = indexM + 1;
}
enum State {init, begin, enterMoister, enterTime, waterRelease, seekLight, avoidObstacle, recordReadings, seekDark, askForHistory, displayReadings} state;
void tick()
{

		switch(state)//Transitions   **********************************************************************************************************
		{
			case init:
				state = begin;
			break;   
			
			case begin:
				if(beginKey == 14)
				{
					state = enterMoister;
				}
				else
				{
					state = begin;
				}
			break;
			
			case enterMoister:
				if(minimumMoisterKey > 7  || minimumMoisterKey == 0)
				{
					state = enterMoister;
				}
				else
				{
					state =  enterTime;
				}
				break;
			
			case enterTime:
				if(exposureMaxTime > 9 || exposureMaxTime == 0)
				{
					state = enterTime;
				}
				else
				{
					state =  seekLight;
				}			
			break;
			
			case seekLight:
				seekLightFlag = 1;
				if(topLdrFlag == 0)
				{
					state = seekLight;
				}
				if(topLdrFlag == 1)
				{
					state = recordReadings;
					seekLightFlag = 0;
				} 
				if(obstacleFlag)              
				{
					moveAroundObject();
					obstacleFlag = 0x00;
				}
			break;
			
			case avoidObstacle:
				if(seekLightFlag == 1)
				{
					state = seekLight;
				}
				if(seekLightFlag == 0)
				{
					state = seekDark;
				}
			break;
			
			case recordReadings:
				if(time >= exposureMaxTimeToCompare)
				{
					state = seekDark;
					topLdrFlag = 0;
				}
				if(time < exposureMaxTimeToCompare)
				{
					state = recordReadings;
				}
				if(minimumMoisterKey >= moister)
				{
					state = waterRelease;
				}
			break;
			
			case seekDark:
				seekLightFlag = 0;
				if(obstacleFlag)
				{
					moveAroundObject();
					obstacleFlag = 0x00;
				}
				else if(topLdrFlag == 0)
				{
					state = seekDark;
				}
				else if(topLdrFlag == 1)
				{
					if(darkCounter >= 5)
					{
						state = askForHistory;	
					}
				}
			break;
			
			case askForHistory:
				if(historyKey == 16)
				{
					indexM = 0;
					indexF = 0;
					state = displayReadings;
				}
				else
				{
					state = askForHistory;
				}
			break;
			
			case waterRelease:
				state = recordReadings;
			break;
			
			case displayReadings:
				if(indexM < maxIndexM)
				{
					state = displayReadings;
				}
				else
				{
					state = init;
				}
			break;
			
			default:
			state = init;
			break;
		}
		
		switch(state)//Actions                   **********************************************************************************************************
		{
			case init:
			time = 0;
			exposureMaxTime = 0;
			exposureMaxTimeToCompare = 0;
			seekLightFlag = 0;
			obstacleFlag =0; 
			topLdrFlag = 0; 
			historyKey = 0; 
			beginKey = 0; 
			key = 0; 
			minimumMoisterKey = 0; 
			keyPadValue = 0; 
			numPhases = 0; 
			phaseCounter = 0;
			temperatureVoltage = 0; //Raw Voltage from temperature sensor
			temperatureC = 0;      //Used to store temperature in Celsius
			temperatureF = 0;		//Used to store temperature in Fahrenheit
			indexF = 0;   //Used to place the number of reading for saving purposes for Temperature F
			maxIndexF = 0;  //Used to know the amount of Temperature readings taken for Temperature F
			strF[16] = 0;  //Used to store the string that came from being a temperature int
			strC[16] = 0;  
			break;
			
			case begin:
			LCD_ClearScreen();
			//LCD_DisplayString(1 ,"................................");
			LCD_DisplayString(1 ," Press and hold    * to begin");
			delay_ms(3500);
			LCD_ClearScreen();
			
			key = GetKeypadKey();
			keyPadValue = 0;
			switch (key)
			{
				case '1': beginKey = 1; LCD_DisplayString(1,"1"); break;
				case '2': beginKey = 2; LCD_DisplayString(1,"2"); break;
				case '3': beginKey = 3; LCD_DisplayString(1,"3");break;
				case '4': beginKey = 4; LCD_DisplayString(1,"4");break;
				case '5': beginKey = 5; LCD_DisplayString(1,"5");break;
				case '6': beginKey = 6; LCD_DisplayString(1,"6");break;
				case '7': beginKey = 7; LCD_DisplayString(1,"7");break;
				case '8': beginKey = 8; LCD_DisplayString(1,"8");break;
				case '9': beginKey = 9; LCD_DisplayString(1,"9");break;
				case 'A': beginKey = 10; LCD_DisplayString(1,"A");break;
				case 'B': beginKey = 11; LCD_DisplayString(1,"B");break;
				case 'C': beginKey = 12; LCD_DisplayString(1,"C");break;
				case 'D': beginKey = 13; LCD_DisplayString(1,"D");break;
				case '*': beginKey = 14; LCD_DisplayString(1,"*");break;
				case '0': beginKey = 15; LCD_DisplayString(1,"0");break;
				case '#': beginKey = 16; LCD_DisplayString(1,"#");break;
				default:  break; // Should never occur. Middle LED off.
			}
			if(beginKey == 14)
			{
				LCD_DisplayString(1,"  Lets Begin");
				delay_ms(3500);
			}
			else
			{
				LCD_DisplayString(1,"  Try again");
				delay_ms(3500);
			}
			break;
			
			case enterMoister:
				  LCD_ClearScreen();
				//LCD_DisplayString(1 ,"................................");
				  LCD_DisplayString(1 ,"Enter minimum   moister level");
				  delay_ms(3500);
				  LCD_DisplayString(1 ,"by pressing and holding value");
				  delay_ms(3500);
				  LCD_DisplayString(1,"Choose values 1 through 7");
				  delay_ms(3500);
				  LCD_DisplayString(1,"Where 1 is low  moister");
				  delay_ms(3500);
				  LCD_DisplayString(1,"and 7 is high   moister");
				  delay_ms(3500);
				  LCD_ClearScreen();
				
				key = GetKeypadKey();
				keyPadValue = 0;
				switch (key) 
				{
					case '1': minimumMoisterKey = 1; LCD_DisplayString(1,"1"); break; 
					case '2': minimumMoisterKey = 2; LCD_DisplayString(1,"2"); break;
					case '3': minimumMoisterKey = 3; LCD_DisplayString(1,"3");break;
					case '4': minimumMoisterKey = 4; LCD_DisplayString(1,"4");break;
					case '5': minimumMoisterKey = 5; LCD_DisplayString(1,"5");break;
					case '6': minimumMoisterKey = 6; LCD_DisplayString(1,"6");break;
					case '7': minimumMoisterKey = 7; LCD_DisplayString(1,"7");break;
					case '8': minimumMoisterKey = 8; LCD_DisplayString(1,"8");break;
					case '9': minimumMoisterKey = 9; LCD_DisplayString(1,"9");break;
					case 'A': minimumMoisterKey = 10; LCD_DisplayString(1,"A");break;
					case 'B': minimumMoisterKey = 11; LCD_DisplayString(1,"B");break;
					case 'C': minimumMoisterKey = 12; LCD_DisplayString(1,"C");break;
					case 'D': minimumMoisterKey = 13; LCD_DisplayString(1,"D");break;
					case '*': minimumMoisterKey = 14;LCD_DisplayString(1,"*");break;
					case '0': minimumMoisterKey = 15;LCD_DisplayString(1,"0");break;
					case '#': minimumMoisterKey = 16; LCD_DisplayString(1,"#");break;
					default:  break; // Should never occur. Middle LED off.
				}
				LCD_DisplayString(1,"Min Moister=");
				LCD_Cursor(13);
				LCD_WriteData(minimumMoisterKey  + '0');
				delay_ms(3500);
			break;
			
			case enterTime:
				LCD_ClearScreen();
				//LCD_DisplayString(1 ,"................................");				 
				  LCD_DisplayString(1 ,"Enter the number of minutes of ");
				   delay_ms(3500);
				  LCD_DisplayString(1,"light exposure");
				  delay_ms(3500);
				  LCD_DisplayString(1 ,"by pressing and holding value");
				  delay_ms(3000);
				  LCD_DisplayString(1,"Choose values 1 through 9   ");
				  delay_ms(3500);
			
				LCD_init();
				key = GetKeypadKey();
				switch (key)
				{
					case '1': exposureMaxTime = 1; LCD_DisplayString(1,"1"); break; // hex equivalent
					case '2': exposureMaxTime = 2; LCD_DisplayString(1,"2"); break;
					case '3': exposureMaxTime = 3; LCD_DisplayString(1,"3");break;
					case '4': exposureMaxTime = 4; LCD_DisplayString(1,"4");break;
					case '5': exposureMaxTime = 5; LCD_DisplayString(1,"5");break;
					case '6': exposureMaxTime = 6; LCD_DisplayString(1,"6");break;
					case '7': exposureMaxTime = 7; LCD_DisplayString(1,"7");break;
					case '8': exposureMaxTime = 8; LCD_DisplayString(1,"8");break;
					case '9': exposureMaxTime = 9; LCD_DisplayString(1,"9");break;
					case 'A': exposureMaxTime = 10; LCD_DisplayString(1,"A");break;
					case 'B': exposureMaxTime = 11; LCD_DisplayString(1,"B");break;
					case 'C': exposureMaxTime = 12; LCD_DisplayString(1,"C");break;
					case 'D': exposureMaxTime = 13; LCD_DisplayString(1,"D");break;
					case '*': exposureMaxTime = 14;LCD_DisplayString(1,"*");break;
					case '0': exposureMaxTime = 15;LCD_DisplayString(1,"0");break;
					case '#': exposureMaxTime = 16; LCD_DisplayString(1,"#");break;
					default:  break; // Should never occur. Middle LED off.
				}
				LCD_DisplayString(1,"Light exposure   time=");
				LCD_Cursor(23);
				LCD_WriteData(exposureMaxTime  + '0');
				delay_ms(3500);
				exposureMaxTimeToCompare = exposureMaxTime * 153;  
			break;
			
			case seekLight:
				moveToHighestIntensity();
			break;
			
			case avoidObstacle:
				moveAroundObject();
			break;
			
			case recordReadings:
				time = time + 1;
				getMoister();
				saveMoister();
				getTemperature();
				saveTemperature();
			break;
			
			case seekDark:
				seekLightFlag = 0;
				moveToLowestIntensity();
			break;
			
			case waterRelease:
				openValve();
				closeValve();
			break; 
			
			case askForHistory:
			LCD_ClearScreen();
			//LCD_DisplayString(1 ,"................................");
			LCD_DisplayString(1 ,"To see History  press & hold #");
			delay_ms(3500);
			LCD_ClearScreen();
			
			key = GetKeypadKey();
			keyPadValue = 0;
			switch (key)
			{
				case '1': historyKey = 1; LCD_DisplayString(1,"1"); break;
				case '2': historyKey = 2; LCD_DisplayString(1,"2"); break;
				case '3': historyKey = 3; LCD_DisplayString(1,"3");break;
				case '4': historyKey = 4; LCD_DisplayString(1,"4");break;
				case '5': historyKey = 5; LCD_DisplayString(1,"5");break;
				case '6': historyKey = 6; LCD_DisplayString(1,"6");break;
				case '7': historyKey = 7; LCD_DisplayString(1,"7");break;
				case '8': historyKey = 8; LCD_DisplayString(1,"8");break;
				case '9': historyKey = 9; LCD_DisplayString(1,"9");break;
				case 'A': historyKey = 10; LCD_DisplayString(1,"A");break;
				case 'B': historyKey = 11; LCD_DisplayString(1,"B");break;
				case 'C': historyKey = 12; LCD_DisplayString(1,"C");break;
				case 'D': historyKey = 13; LCD_DisplayString(1,"D");break;
				case '*': historyKey = 14;LCD_DisplayString(1,"*");break;
				case '0': historyKey = 15;LCD_DisplayString(1,"0");break;
				case '#': historyKey = 16; LCD_DisplayString(1,"#");break;
				default:  break; // Should never occur. Middle LED off.
			}
			if(historyKey  == 16)
			{
				LCD_DisplayString(1,"Retrieving       History...");
				delay_ms(3500);
			}
			else
			{
				LCD_DisplayString(1,"  Try again");
				delay_ms(3500);
			}
			break;
			
			case displayReadings:
				displayMemory();
			break;
	}
}
int main(void)
{
	DDRA = 0xFC; PORTA = 0x00;    // ADC cycles PORTA when getting analog an input. Use ADMUX to select the analog input pin.
	DDRB = 0x7F; PORTB = 0x00;   // Motor Driver Control Lines
	DDRC = 0xF0; PORTC = 0x0F;  // PC7..4 outputs init 0s, PC3..0 inputs init 1s
	DDRD = 0xFF; PORTD = 0x00; // LCD data lines
	TimerSet (10);
	TimerOn();
	LCD_init();
	LCD_ClearScreen();
	LCD_DisplayString(1,"Self Sustaining      Plant");
	delay_ms(1500);
	LCD_ClearScreen();
	while(1)
	{
		tick();
		while(!TimerFlag);
		TimerFlag = 0;
	}
}