Ub

#include <AccelStepper.h>                                     //STEPPER MOTOR
#include <Keypad.h>                                           //KEYPAD
#include <LiquidCrystal.h>                                    //LCD

#define motorInterfaceType 1                                  // Define motor interface type
#define X_pin            A0    // Pin A0 connected to joystick x axis
#define Joy_switch       52    // Pin 4 connected to joystick switch
#define HALL_SENSOR      8

Keypad customKeypad = Keypad(makeKeymap(hexaKeys), rowPins, colPins, ROWS, COLS);// Create keypad object
AccelStepper myStepper(motorInterfaceType, stepPin, dirPin);  // Creates an instance
LiquidCrystal lcd(12, 11, 5, 4, 3, 2);

long initial_homing     = -1;                                     // - is CCW and + is CW ; Set it to go CCW
float linearv           = 0;
int speedSelect         = 0;
int flag                = 0;
int val                 = 0;
const int dirPin        = 23;                                 // Define pin connections
const int stepPin       = 25;
const byte ROWS =         4;                                  // Constants for row and column sizes
const byte COLS =         4;
byte rowPins[ROWS] = {39, 41, 43, 45};                       // Connections to Arduino
byte colPins[COLS] = {47, 49, 51, 53};
boolean printflag       = true;
char hexaKeys[ROWS][COLS] =                                   // Array to represent keys on keypad
{
  {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B'},
  {'7', '8', '9', 'C'},
  {':', '0', ';', 'D'}
};

void Joystick() {
  if (!digitalRead(Joy_switch)) {  //  If Joystick switch is clicked
    speedSelect++;
    delay(20);  // delay for deboucing
  }
  switch (speedSelect) {  // check current value of step_speed and change it
    case 1:
      myStepper.setSpeed(1);  // fast speed
      break;
    case 3:
      myStepper.setSpeed(3);  // medium speed
      break;
    case 10:
      myStepper.setSpeed(10); // slow speed
      break;
  }
  if (analogRead(X_pin) > 712) {  //  If joystick is moved Left
    myStepper.move(-1);
  }
  if (analogRead(X_pin) < 312) {  // If joystick is moved right
    myStepper.move(1);
  }
}

void lcdDisplay(int output, bool clr) {
  if (clr) {
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print(value);
    int current = myStepper.currentPosition();
    lcd.setCursor(1, 0);
    lcd.print(current);
  } else {
    lcd.print(output);
    int current = myStepper.currentPosition();
    //lcd.clear(0,16);  need to clear only top row;
    lcd.setCursor(1, 0);
    lcd.print(current);
  }
}
int getKeypadIntegerMulti() {
  int value = 0;                      // the number accumulator
  int keyvalue = 0;                       // the key pressed at current moment
  int isnum = 0;
  keyvalue = customKeypad.getKey();
  if (keyvalue) {
    if (keyvalue == ';') {
      isnum = 0;
      keyvalue = 0;
      value = 0;
      lcdDisplay()
      homefunction(0, true);
    } elif (keyvalue == ':') {
      isnum = 0;
      keyvalue = 0;
      value = 0;
      lcdDisplay(0, true)
    }
    isnum = (keyvalue >= '0' && keyvalue <= ';');     // is it a digit?
    if (isnum) {
      value = value * 10 + keyvalue - '0';            // accumulate the input number
      lcdDisplay(keyvalue, false);
    }
  }
}

void homefunction() {


  // Move motor until home position reached
  while (digitalRead(HALL_SENSOR) == 1) {
    myStepper.moveTo(initial_homing);                         // Set the position to move to
    initial_homing--;                                         // Decrease by 1 for next move if needed
    myStepper.run();                                         // Start moving the stepper
    delay(5);
  }

  myStepper.setCurrentPosition(0);                        // Set the current position to zero for now
  myStepper.setMaxSpeed(100);                             // Set max speed of Stepper
  myStepper.setAcceleration(100);                         // Set Acceleration of Stepper
  initial_homing = 1;                                     // Now set it to go CW
}

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  lcd.begin(16, 2);
  myStepper.setMaxSpeed(1000);
  myStepper.setAcceleration(50);
  myStepper.moveTo(2000);


  // Setup the Hall Effect and Joystick switch as an Input
  pinMode(HALL_SENSOR, INPUT);
  pinMode(X_pin, INPUT);
  pinMode(Joy_switch, INPUT_PULLUP);

  // Home the motor
  homefunction();


}

void loop() {
  // put your main code here, to run repeatedly:
  while (linearv == 0)                                  // While don´t value
  {
    Serial.println("Running");
    val = getKeypadIntegerMulti();                      // Look keypad
    linearv = (val / 10 / 15.7295 * 60);                // Calc vel. value
  }
  if (flag == 0)                                        // Sequence 0  Shown value on LCD
  {
    Serial.println("Flag 0");
    lcd.clear();                                        // Clear LCD display and print character
    lcd.setCursor(0, 0);
    lcd.print(linearv);
    myStepper.setSpeed(linearv);
    flag = 1;                                           // Allow sequence 1
  }
  if (myStepper.distanceToGo() == 0) {                   // Change direction once the motor reaches target position
    Serial.println("DistanceToGo = 0");
    flag++;                                             // Incremente sequence count
    if (flag == 2) {                                     // If sequence 1 complete

      Serial.println("Flag = 2");
      myStepper.moveTo(-myStepper.currentPosition());
    }
    if (flag == 3) {                                    // If sequence 2 complete
      Serial.println("Flag = 3");
      flag = 0;                                         // Allow start
      linearv = 0;                                      // Zero vel. value
      lcd.clear();                                      // Clear LCD display and print character
      myStepper.moveTo(-myStepper.currentPosition());   // Return
    }
  }
  myStepper.runToPosition();                            // Move the motor one step
}