//#include <ArduinoJson.h>
#include <EEPROM.h>
#include <Ticker.h>
#include <ArduinoJson.h>
#include <WiFiUdp.h>
#include <ArduinoOTA.h>
#include "style.h"
#include "js.h"

void tickA();
void tickB();
void blink();


Ticker timerA(tickA, 1000);
Ticker timerB(tickB, 1000);

#define MA 1
#define MB 0

const int LATITUDE       = 47.726682;
const int LONGITUDE      = -2.131774;
const int ANGLE_AZIMUT_MIN    = 100;
const int ANGLE_AZIMUT_MAX    = 260;
// A 14 heures : Hiver max 18 / Ete max 65
const int ANGLE_ALTITUDE_MIN  = 20;
const int ANGLE_ALTITUDE_MAX  = 65;
const int DECALAGE_GMT        = 2;
const int NB_BOUCLE_FIN_WIFI  = 30;

// Adresse de départ dans l'EEPROM pour stocker la variable
#define EEPROM_ADDRESS 0
#define MAX_TIME 30

struct To_Store {
  int max_time[2];
  int theorique_position[2];
  int min[2]  = {ANGLE_ALTITUDE_MIN, ANGLE_AZIMUT_MIN};
  int max[2] = {ANGLE_ALTITUDE_MAX, ANGLE_AZIMUT_MAX};
  float speed[2] {1.4, 1.4};
};

To_Store to_store;
// Time to sleep (in seconds):
const int sleepTimeS = 10;
const int LONGUEUR_UTILE[2] = {25, 25};  // cm
const int SPEED = 1.4; //cm/s
int positionAttendue[2];

// =======================
// WIFI
// =======================
#include <ESP8266WebServer.h>
#include <ESP8266WiFi.h>
#include <ESP8266HTTPClient.h>
// Your WiFi credentials.
// Set password to "" for open networks.
const char* ssid_m = "MOTORS";
const char* pass_m = "MOTORS";

const char* ssid = "Livebox-37cc";
const char* pass = "8A6060920A8A86896F770F2C47";

IPAddress local_IP(192, 168, 4, 22);
IPAddress gateway(192, 168, 4, 9);
IPAddress subnet(255, 255, 255, 0);

ESP8266WebServer server(80);

unsigned long lastUpdateTime = 0;
unsigned long updateInterval = 1 /*5*/ * 60 * 1000;  // 5 minutes en millisecondes

String currentTime = "";
String sunriseTime = "";
String sunsetTime = "";

#define uS_TO_S_FACTOR 1000000  /* Conversion factor for micro seconds to seconds */
#define TIME_TO_SLEEP  3        /* Time ESP32 will go to sleep (in seconds) */

// =======================
// MOTOR
// =======================
bool motor_is_running[2] =  {false, false};
String sens[2] = {"", ""};
int mmin = 0;
String error = "";

String date = "";
String heure = "";

// =======================
// SOLEIL
// =======================
#include <Ephem_Soleil.h>

double ha;
double az;
String lS, mS, cS;
int amplitudeHoraire = 5;
int minH = 0;
int maxH = 0;
int minM = 0;
int maxM = 0;
double minAz = 0;
double maxAz = 0;
double minHa = 0;
double maxHa = 0;
String tableau;



// PINS
#define RTC_CLOCK D6
#define RTC_DATA  D7
#define RTC_RESET D8

#define PWMA  D1 //5 //=D6 was D3
#define PWMB  D2 //4 //=D7 was D4
#define PIN_DA D3 //0 
#define PIN_DB D4 //2 
#define PIN_LED   2

//#define PWMA 17 //=D6 was D3
//#define PWMB 18 //=D7 was D4
//#define PIN_DA 19
//#define PIN_DB 20

// =======================
// RTC
// =======================
// Load the virtuabotixRTC library
#include "virtuabotixRTC.h"
// Determine the pins connected to the module
// myRTC (clock, data, RST)
virtuabotixRTC myRTC (RTC_CLOCK, RTC_DATA, RTC_RESET);

// Lire les valeurs RTC
int year = 2024; //myRTC.year;
int month = 9; //myRTC.month;
int day = 7; //myRTC.dayofmonth; 
int hours = 14; //myRTC.hours;
int minutes = 0; //myRTC.minutes;
int seconds = 0; //myRTC.seconds;


// TIME
unsigned long lastSyncMillis;


int getValueFromParam(String param_key);

void setup() {
  // initialize digital pin LED_BUILTIN as an output.
  Serial.begin(115200);
  pinMode(PWMA, OUTPUT);
  pinMode(PWMB, OUTPUT);
  pinMode(PIN_DA, OUTPUT);
  pinMode(PIN_DB, OUTPUT);
  //  pinMode(PIN_LED, OUTPUT);
  stop(MA);
  stop(MB);
  Serial.println("Motors initialized.");

  delay(10);

  //  // Connectez-vous au réseau WiFi
  //  WiFi.begin(ssid, pass);
  //  Serial.println("Connexion au WiFi en cours.");
  //  int essai = 0;
  //  while (WiFi.status() != WL_CONNECTED && essai < 15) {
  ////    digitalWrite(PIN_LED, LOW);
  //
  //    delay(1000);
  //    Serial.print(".");
  ////          digitalWrite(PIN_LED, HIGH);
  //
  //    essai ++;
  //  }
  Serial.println("");
  Serial.println("Connecté au réseau WiFi");
  Serial.println(WiFi.localIP());

  Serial.print("Setting soft-AP configuration ... ");
  Serial.println(WiFi.softAPConfig(local_IP, gateway, subnet) ? "Ready" : "Failed!");

  Serial.print("Setting soft-AP ... ");
  Serial.println(WiFi.softAP(ssid_m, pass_m) ? "Ready" : "Failed!");
  //WiFi.softAP(ssid);
  //WiFi.softAP(ssid, password, channel, hidden, max_connection)

  Serial.print("Soft-AP IP address = ");
  Serial.println(WiFi.softAPIP());

  // Définissez les gestionnaires pour les différentes URL
  server.on("/", HTTP_GET, handleRoot);
  server.on("/forward", HTTP_GET, handleForward);
  server.on("/backward", HTTP_GET, handleBackward);
  server.on("/stop", HTTP_GET, handleStop);
  server.on("/reset", HTTP_GET, handleReset);
  server.on("/setFinCourse", HTTP_GET, handleFinCourse);
  server.on("/add", HTTP_GET, handleAdd);
  server.on("/sub", HTTP_GET, handleSub);
  server.on("/data", HTTP_GET, handleData);
  server.on("/save", HTTP_POST, handleSave);
  server.on("/settings", HTTP_GET, handleSettings);
  server.on("/saveDate", HTTP_POST, handleSaveDate);
  server.on("/setDate", HTTP_GET, handleSetDate);
  server.on("/gotoPosition", HTTP_GET, handleGotoPosition);
  // Démarrer le serveur
  server.begin();
  Serial.println("Serveur Web démarré");


  lastSyncMillis = millis() - 5001;


  // Initialisation de l'EEPROM
  EEPROM.begin(sizeof(To_Store));

  // Lire la valeur stockée dans l'EEPROM
  EEPROM.get(EEPROM_ADDRESS, to_store);

  for (int button = 0; button < 2; button ++) {
    if (to_store.max_time[button] == 0) {
      to_store.max_time[button] = MAX_TIME;
    }
    if (to_store.theorique_position[button] == 0) {
      to_store.theorique_position[button] = 0;
    }
    if (to_store.min[button] < 0) {
      to_store.min[button] = ANGLE_ALTITUDE_MIN;
    }
    
    if (to_store.max[button] < 0) {
      to_store.max[button] = ANGLE_ALTITUDE_MAX;
    }
  }

  ///////////////////////////////////
  // UPDATE OTA
  ///////////////////////////////////
  // Port defaults to 8266
  ArduinoOTA.setPort(8266);

  // Hostname defaults to esp8266-[ChipID]
  ArduinoOTA.setHostname("ESP8266_MOTEUR_SOLAIRE");

  // No authentication by default
  // ArduinoOTA.setPassword("admin");

  // Password can be set with it's md5 value as well
  // MD5(admin) = 21232f297a57a5a743894a0e4a801fc3
  // ArduinoOTA.setPasswordHash("21232f297a57a5a743894a0e4a801fc3");

  ArduinoOTA.onStart([]() {
    Serial.println("Start");
  });
  ArduinoOTA.onEnd([]() {
    Serial.println("\nEnd");
  });
  ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
    Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
  });
  ArduinoOTA.onError([](ota_error_t error) {
    Serial.printf("Error[%u]: ", error);
    if (error == OTA_AUTH_ERROR) Serial.println("Auth Failed");
    else if (error == OTA_BEGIN_ERROR) Serial.println("Begin Failed");
    else if (error == OTA_CONNECT_ERROR) Serial.println("Connect Failed");
    else if (error == OTA_RECEIVE_ERROR) Serial.println("Receive Failed");
    else if (error == OTA_END_ERROR) Serial.println("End Failed");
  });
  ArduinoOTA.begin();

  // After to set the entire information, comment the following line
  // (seconds, minutes, hours, day of week, day of month, month, year)
 // myRTC.setDS1302Time (0, 34, 18, 2, 7, 9, 2024);

}

void tickA() {
  tick_button(MA);
}
void tickB() {
  tick_button(MB);
}
void tick_button(int button)
{
  if (motor_is_running[button]) {
    Serial.print(button);
    Serial.print(" ");
    //Serial.println("La méthode est appelée toutes les 1 seconde !");

    if (to_store.theorique_position[button] != positionAttendue[button]) {
      if (sens[button] == "backward") {
        to_store.theorique_position[button] --;
        Serial.println("Backward is running " + String(to_store.theorique_position[button]));
      }
      else {
        to_store.theorique_position[button] ++;
        Serial.println("Forward is running " + String(to_store.theorique_position[button]));
      }
      EEPROM.put(EEPROM_ADDRESS, to_store);
      EEPROM.commit();
    }
    if (to_store.theorique_position[button] == positionAttendue[button] || to_store.theorique_position[button] < 0 || to_store.theorique_position[button] > to_store.max_time[button]) {
      Serial.println("Stop running " + String(button) + " " + String(to_store.theorique_position[button]) + " / " + String(to_store.max_time[button]));
      stop(button);
      // motor_is_running[button] = false;
    }
  }
  myRTC.updateTime();
}

int boucle = 0;
void loop() {

  // getJson();
  ArduinoOTA.handle();

  // Gérez les requêtes du serveur
  server.handleClient();


  if ((!motor_is_running[0] && !motor_is_running[1]) &&
    (millis() - lastUpdateTime >= updateInterval || lastUpdateTime == 0)
  ) {
    boucle ++;
    
    blink();
    
    myRTC.updateTime();

    printTime();

    // Lire les valeurs RTC
    year = myRTC.year;
    month = myRTC.month;
    day = myRTC.dayofmonth;
    hours = myRTC.hours;
    minutes = myRTC.minutes;
    seconds = myRTC.seconds;
  
    // Valider les valeurs RTC
    bool valid = validateRTC(year, month, day, hours, minutes, seconds);
    if (!valid) {
      year = 2024;
      month = 8;
      day = 3;
      hours = 10;
      minutes = 40;
      seconds = 00;
      myRTC.setDS1302Time (0, minutes, hours, 2, day, month, year);
    }

    lastSyncMillis = millis();

    // "ha" est la hauteur  du soleil au-dessu de l'horizon.
    // "az" est l'azimut du soleil compté positivement dans le sens des aiguilles d'une motre à partir du Nord

    posSoleil(
      year, month, day,
      hours, minutes, seconds,
      DECALAGE_GMT, LATITUDE,  LONGITUDE,
      &ha, &az); // Même calcul que ci-dessus mais avec date et heure sous form d'entiers
    Serial.println("   hauteur : " + String(ha, 1) + "   azimut : " + String(az, 1));
    //Serial.println("Glenac; lever, zenith et coucher : 19 m");

//    if (true || ha < -4) {
//      ESP.deepSleep(60 * 1000000L);
//    }

    //lmvSoleil("28/05/2021", 2, 0, LATITUDE,  LONGITUDE, &lS, &mS, &cS, 19);
    lmvSoleil(
      year, month, day,
      DECALAGE_GMT, 0,
      LATITUDE,  LONGITUDE,
      &lS, &mS, &cS, 19);

    int hlS = lS.substring(0, 2).toInt();
    int mnlS = lS.substring(3, 5).toInt();

    int hcS = cS.substring(0, 2).toInt();
    int mncS = cS.substring(3, 5).toInt();

    int hmS = mS.substring(0, 2).toInt();
    int mnmS = mS.substring(3, 5).toInt();

    double ignore;
    posSoleil(
      /*2021, 12, 21, */ year, month, day,
      hlS, mnlS, 0,
      DECALAGE_GMT, LATITUDE,  LONGITUDE,
      &minHa, &minAz); // Même calcul que ci-dessus mais avec date et heure sous form d'entiers

    posSoleil(
      /*2021, 12, 21, */ year, month, day,
      hmS, mnmS, 0,
      DECALAGE_GMT, LATITUDE,  LONGITUDE,
      &maxHa, &ignore); // Même calcul que ci-dessus mais avec date et heure sous form d'entiers

    posSoleil(
      /*2021, 12, 21, */ year, month, day,
      hcS, mncS, 0,
      DECALAGE_GMT, LATITUDE,  LONGITUDE,
      &ignore, &maxAz); // Même calcul que ci-dessus mais avec date et heure sous form d'entiers


    amplitudeHoraire = (hcS * 60 + mncS) - (hlS * 60 + mnlS);

    Serial.println("amplitudeHoraire : "
                   + String(minH) + ":" + String(minM) + " "
                   + String(maxH) + ":" + String(maxM) + " "
                   + String(minAz) + " "
                   + String(maxAz) + " amplitude=" + amplitudeHoraire);

    //}

    Serial.println("   lever : " + lS + "   zenith : " + mS + "   coucher : " + cS);

    //    if (to_store.theorique_position[MA] == -1) {
    //      retourEnZero(0);
    //    }
    //    if (to_store.theorique_position[MB] == -1) {
    //      retourEnZero(1);
    //    }

    //
    double ha_tmp;
    double az_tmp;
    tableau = "<table><tr>";
    tableau += "<td>Heure</td>";
    for (int h = 0; h <= 23; h++) {
      tableau += "<td>" + String(h) + "</td>";
    }
    tableau += "</tr>";
    for (int button = 0; button < 2; button ++) {
      tableau += "<tr>";
      tableau += "<td>Motor " + String(button) + "</td>";

      for (int h = 0; h <= 23; h++) {
        // for (int m = 0; m <= 50; m += 10) {
        Serial.print("Calcul pour h="); Serial.println(h);
        posSoleil(
          year, month, day,
          h, 0, 0,
          DECALAGE_GMT, LATITUDE,  LONGITUDE,
          &ha_tmp, &az_tmp); // Même calcul que ci-dessus mais avec date et heure sous form d'entiers

        tableau += "<td>" + String(calculatePosition(button, ha_tmp, az_tmp)) + "</td>";
        blink();
      }
      tableau += "</tr>";
    }
    tableau += "</table>";

     Serial.println("Fin de tableau");

    if (lastUpdateTime == 0) {

      to_store.theorique_position[MA] = to_store.max_time[MA];
      to_store.theorique_position[MB] = to_store.max_time[MB];
      retourEnZero(MA);
      retourEnZero(MB);
    }
    else {
      Serial.println("Calcul position pour heure " + heure + " hauteur=" + String(ha, 2) + " azimuth=" + String(az, 2));
      int positionTogo = calculatePosition(MA, ha, az);
      gotoPosition(MA, positionTogo);
      positionTogo = calculatePosition(MB, ha, az);
      gotoPosition(MB, positionTogo);
    }
    // Mettre à jour le temps de la dernière mise à jour
    lastUpdateTime = millis();

    if (boucle > NB_BOUCLE_FIN_WIFI) {
      Serial.println("Wifi desactivé");
      WiFi.forceSleepBegin();
    }
  }

  timerA.update();
  timerB.update();

//  Serial.print("Go to sleep ");
//  delay(20);
//
//  ESP.deepSleep(3600 * 1000000L); // Infini

    // WiFi.forceSleepBegin();
//  if (boucle == 4) {
//    WiFi.mode(WIFI_OFF);
//    //updateInterval *= 10;
//  }

}

void handleRoot() {
  // Générer la page HTML avec CSS
  String html = "<html><head>";

  html += "<meta charset='UTF-8'>";
  html += "<meta name='viewport' content='width=device-width, initial-scale=1.0'>";
  html += js;

  //  html += "<link type='text/css' rel='stylesheet' href='http://192.168.1.3:81/velux/velux.css'>";
  //  html += "<script src='http://192.168.1.3:81/velux/jquery.min.js'></script>";
  //  html += "<script src='http://192.168.1.3:81/velux/velux.js'></script>";


  html += "<style>";
  html += css;
  html += "</style>";

  html += "</head><body>";
  html += "<h1>Controle AZIMUTH " + String(to_store.theorique_position[MA]) + "/" + String(to_store.max_time[MA]) + "</h1>";
  html += "<h1>Controle HAUTEUR " + String(to_store.theorique_position[MB]) + "/" + String(to_store.max_time[MB]) + "</h1>";

  html += "<h2>" + String(WiFi.softAPIP().toString()) + "</h2>";
  html += "<h2>Date " + String(day) + "/" + String(month) + " " + heure + "</h2>";
  html += "<h2>Levé " + String(lS) + " - couché " + String(cS) + "</h2>";
  html += "<h2>Hauteur : " + String(ha) + " azimuth=" + String(az) + "</h2>";

  html += "<div class='button' onclick='showNotification()'><form action='/settings' method='get'>";
  html += "<input type='submit' value='Param&ecirc;tres'>";
  html += "</form>";

  html += "<form action='/setDate' method='get'>";
  html += "<input type='submit' value='Date'>";
  html += "</form></div>";

  for (int button = 0; button < 2; button ++) {
    html += "<ul class='buttons'>";

    html += "<li class='button' onclick='showNotification()'><form action='/reset?button=" + String(button) + "' method='get'>";
    html += "<input type='input' hidden name='button' value='" + String(button) + "'>";
    html += "<input type='submit' value='Reset'>";
    html += "</form></li>";

    html += "<li class='button' onclick='showNotification()'><form action='/setFinCourse?button=" + String(button) + "' method='get'>";
    html += "<input type='input' hidden name='button' value='" + String(button) + "'>";

    html += "<input type='submit' value='Set Bas'>";
    html += "</form></li>";

    html += "<li class='button' onclick='showNotification()'><form action='/forward?button=" + String(button) + "' method='get'>";
    // html += "<input type='hidden' id='time' name='time' value='" + String(to_store.max_time - to_store.theorique_position) + "'>";
    html += "<input type='input' hidden name='button' value='" + String(button) + "'>";

    html += "<input type='submit' value='Descendre'>";
    html += "</form></li>";

    html += "<li class='button' onclick='showNotification()'><form action='/backward?button=" + String(button) + "' method='get'>";
    html += "<input type='input' hidden name='button' value='" + String(button) + "'>";
    html += "<input type='submit' value='Monter'>";
    html += "</form></li>";

    html += "<li class='button' onclick='showNotification()'><form action='/stop?button=" + String(button) + "' method='get'>";
    html += "<input type='input' hidden name='button' value='" + String(button) + "'>";
    html += "<input type='submit' value='Arr&ecirc;ter'>";
    html += "</form></li>";

    html += "<li class='button'><button onclick='handleButtonClick(" + String(button) + ")'>Aller à</button></li>";

    html += "</ul>";
  }

  if (error != "") {
    html += "<p>" + error + "</p>";
  }
  html += tableau;
  html += "<div id='notification' class='notification'></div>";
  html += "</body></html>";

  // Envoyer la page HTML au client
  server.send(200, "text/html", html);
}

void handleReset() {
  mmin = 0;
  int button = getValueFromParam("button");
  retourEnZero(button);

  // to_store.theorique_position[button] = 0;
  to_store.max_time[button] = LONGUEUR_UTILE[button];
  to_store.theorique_position[button] = LONGUEUR_UTILE[button];
  EEPROM.put(EEPROM_ADDRESS, to_store);
  EEPROM.commit();
  // Vous pouvez ajouter ici le code pour traiter la vitesse comme vous le souhaitez

  // Rediriger vers la page principale après le traitement
  server.sendHeader("Location", "/");
  server.send(302, "text/plain", "Redirection vers la page principale");
}

void handleFinCourse() {
  int button = getValueFromParam("button");

  to_store.max_time[button] = to_store.theorique_position[button];
  EEPROM.put(EEPROM_ADDRESS, to_store);
  EEPROM.commit();

  // Vous pouvez ajouter ici le code pour traiter la vitesse comme vous le souhaitez

  // Rediriger vers la page principale après le traitement
  server.sendHeader("Location", "/");
  server.send(302, "text/plain", "Redirection vers la page principale");
}

void handleForward() {
  int button = getValueFromParam("button");

  positionAttendue[button] = to_store.max_time[button];
  avance(button);

  //Serial.println(readVcc());

  Serial.println("avance fin");
  // Vous pouvez ajouter ici le code pour traiter la vitesse comme vous le souhaitez

  // Rediriger vers la page principale après le traitement
  server.sendHeader("Location", "/");
  server.send(302, "text/plain", "Redirection vers la page principale");
}


void avance(int button) {
  stop(button);
  error = "";
  if (to_store.theorique_position[button] >= to_store.max_time[button]) {
    error = "La position actuelle est maximale";
    server.sendHeader("Location", "/");
    server.send(302, "text/plain", "Redirection vers la page principale");
    return;
  }

  motor_is_running[button] = true;
  sens[button] = "forward";

  Serial.println("avance " + String(button));
  if (button == MA) {
    digitalWrite(PWMA, HIGH);
    digitalWrite(PIN_DA, HIGH);
    timerA.start();

  }
  if (button == MB) {
    digitalWrite(PWMB, HIGH);
    digitalWrite(PIN_DB, HIGH);
    timerB.start();

  }
  delay(200);

}

void recule(int button) {
  stop(button);
  error = "";
  if (to_store.theorique_position[button] <= mmin) {
    error = "La position actuelle est minimale";
    server.sendHeader("Location", "/");
    server.send(302, "text/plain", "Redirection vers la page principale");
    return;
  }

  motor_is_running[button] = true;
  sens[button] = "backward";

  Serial.println("recule");

  if (button == MA) {
    digitalWrite(PWMA, HIGH);
    digitalWrite(PIN_DA, LOW);
    timerA.start();
  }
  if (button == MB) {
    digitalWrite(PWMB, HIGH);
    digitalWrite(PIN_DB, LOW);   // turn the LED on (HIGH is the voltage level)
    timerB.start();

  }
  delay(200);
  //Serial.println(readVcc());
  Serial.println("recule fin");
}

void handleBackward() {
  int button = getValueFromParam("button");
  positionAttendue[button] = 0;

  recule(button);

  // Vous pouvez ajouter ici le code pour traiter la vitesse comme vous le souhaitez

  // Rediriger vers la page principale après le traitement
  server.sendHeader("Location", "/");
  server.send(302, "text/plain", "Redirection vers la page principale");
}

void handleStop() {
  Serial.println("Arrêt");
  int button = getValueFromParam("button");

  stop(button);

  // Vous pouvez ajouter ici le code pour gérer l'arrêt comme vous le souhaitez

  // Rediriger vers la page principale après le traitement
  server.sendHeader("Location", "/");
  server.send(302, "text/plain", "Redirection vers la page principale");
}


void handleAdd() {
  int button = getValueFromParam("button");

  Serial.println("Arrêt");
  stop(button);

  to_store.max_time[button] ++;
  EEPROM.put(EEPROM_ADDRESS, to_store);
  EEPROM.commit();
  // Vous pouvez ajouter ici le code pour gérer l'arrêt comme vous le souhaitez

  // Rediriger vers la page principale après le traitement
  server.sendHeader("Location", "/");
  server.send(302, "text/plain", "Redirection vers la page principale");
}

void handleData() {
  // Création d'un objet JSON
  StaticJsonDocument<200> jsonDoc;
  jsonDoc["sensor"] = "temperature";
  jsonDoc["value"] = 25.5;

  // Conversion de l'objet JSON en chaîne JSON
  String jsonString;
  serializeJson(jsonDoc, jsonString);

  // Configuration de la réponse HTTP
  server.sendHeader("Content-Type", "application/json");
  server.send(200, "application/json", jsonString);
}

void handleSub() {
  int button = getValueFromParam("button");

  Serial.println("Arrêt");
  stop(button);

  to_store.max_time[button] --;
  EEPROM.put(EEPROM_ADDRESS, to_store);
  EEPROM.commit();
  // Vous pouvez ajouter ici le code pour gérer l'arrêt comme vous le souhaitez

  // Rediriger vers la page principale après le traitement
  server.sendHeader("Location", "/");
  server.send(302, "text/plain", "Redirection vers la page principale");
}

void stop(int button)
{
  motor_is_running[button] = false;
  sens[button] = "";
  if (to_store.theorique_position[button] < 0) {
    to_store.theorique_position[button] = 0;
  }
  if (to_store.theorique_position[button] > to_store.max_time[button]) {
    to_store.theorique_position[button] = to_store.max_time[button];
  }
  if (button == MB) {
    Serial.println("stop B");

    digitalWrite(PWMB, LOW);
    digitalWrite(PIN_DB, LOW);
    timerB.stop();
  }
  if (button == MA) {
    Serial.println("stop A");

    digitalWrite(PWMA, LOW);
    digitalWrite(PIN_DA, LOW);
    timerA.stop();
  }

  delay(200);

  // Serial.println("stop fin");
}

//--------------------------------------------------------------------------------------------------
// Read current supply voltage
//--------------------------------------------------------------------------------------------------
String readVcc() {
  // most exact output
  uint16_t v = ESP.getVcc();
  float_t v_cal = ((float) v / 1024.0f);
  char v_str[10];
  dtostrf(v_cal, 5, 3, v_str);
  sprintf(v_str, "%s", v_str);
  Serial.print("Tension lue ");
  Serial.println(String(v_str));

  return String(v_str); //ESP.getVcc() / 1024.0f; // Vcc in millivolts
}

int getValueFromParam(String param_key)
{
  String message = "Number of args received:";

  message += server.args();

  for (int i = 0; i < server.args(); i++) {
    message = message + ("Arg nº" + String(i) + " –> ");
    message = message + (server.argName(i) + ": ");
    message = message + (server.arg(i) + "\n");
    if (param_key.equals(server.argName(i))) {
      Serial.println(message);

      return String(server.arg(i)).toInt();
    }
  }
  Serial.println(message);
  return 0;
}


void printTime()
{
  // Print the details in serial monitor
  Serial.print
  ("Data "); // Call the routine that prints the day of the week
  jourSemaine (myRTC.dayofweek);
  Serial.print (", ");

  date = (day < 10 ? "0" : "") + String(day) + "/"
         + (month < 10 ? "0" : "") + String(month)
         + "/" + String(year);

  Serial.print (date);

  heure = (hours < 10 ? "0" : "") + String(hours) + ":"
          + (minutes < 10 ? "0" : "") + String(minutes)  + ":"
          + (seconds < 10 ? "0" : "") + String(seconds);

  Serial.println(" Time " + heure); // Adds a 0 if the time value is <10

}

void handleGotoPosition() {

  int button = getValueFromParam("button");
  int value  = getValueFromParam("value");

  stop(button);

  gotoPosition(button, value);

  Serial.println("goto position " + String(button) + " value=" + value);
  server.sendHeader("Location", "/");
  server.send(302, "text/plain", "Redirection vers la page principale");
}

void retourEnZero(int button) {
  Serial.println("retour en zero " + String(button));
  to_store.theorique_position[button] = LONGUEUR_UTILE[button];

  stop(button);
  recule(button);
  Serial.println("Fin retour en zero");

}

void gotoPosition(int button, int positionTogo) {
  //Serial.println("gotoPosition " + String(button) + ' ' + String(positionTogo));

  float real_positionTogo = positionTogo / to_store.max[button];
  positionAttendue[button] = real_positionTogo;
  if (to_store.theorique_position[button] != real_positionTogo) {

    if (real_positionTogo > to_store.theorique_position[button]) {
      avance(button);
    }
    else if (real_positionTogo < to_store.theorique_position[button]) {
      recule(button);
    }
  }
}

int calculatePosition(int button, double ha, double az)
{

  int position = 0;  
  if (button == MA) {
    Serial.println("Calcul position min=" + String(to_store.min[MA]) + " max=" + String(to_store.max[MA]));

    if ( az > 0) {
      if (az <= to_store.min[MA]) {
        position = 0;
      }
      else if (az > to_store.min[MA] && az <= to_store.max[MA]) {
        position = map(az, to_store.min[MA], to_store.max[MA], 0, to_store.max_time[button]);
      }
      else if (az > to_store.max[MA]) {
        position = to_store.max_time[button];
      }
    } else {
      position = to_store.max_time[button] / 2;
    }
    Serial.println("Calcul position axe AZIMUTH az=" + String(az) + " minAz=" + String(to_store.min[MA]) + " maxAz=" + String(to_store.min[MA]) + " pos=" + String(position));
  }
  else {
    //
    Serial.println("Calcul position min=" + String(to_store.min[MB]) + " max=" + String(to_store.max[MB]));
    int ha_loc = 90 - ha;
    if ( ha > 0) {
      if (ha <= to_store.min[MB] || az <= to_store.min[MA]) {
        position = 0;
      }
      else if (ha > to_store.min[MB]) { // && ha <= to_store.max[MB]) {
        position = map(ha, to_store.min[MB], to_store.max[MB], 0, to_store.max_time[button]);
      }
      else if (ha > to_store.max[MB] || az > to_store.max[MA]) {
        position = 0; //to_store.max_time[button];
      }
    } else {
      position = 0; //to_store.max_time[button] / 2;
    }
    Serial.println("Calcul position axe ALTITUDE ha=" + String(ha) + " ha_loc=" + String(ha_loc) + " az=" + String(az) + " minHa=" + String(to_store.min[MB]) + " maxHa=" + String(to_store.max[MB])  + " pos=" + String(position));
  }
  return position;
}

void jourSemaine (int day)
{
  switch (day)
  {
    case  1:
      Serial.print("Lundi");
      break;
    case  2:
      Serial.print("Mardi");
      break;
    case  3:
      Serial.print("Mercredi");
      break;
    case  4:
      Serial.print("Jeudi");
      break;
    case  5:
      Serial.print("Vendredi");
      break;
    case  6:
      Serial.print("Samedi");
      break;
    case  7:
      Serial.print("Dimanche");
      break;
  }
}


void handleSettings() {
String html = "<html>\
  <head>\
    <style>\
      body {\
        font-family: Arial, sans-serif;\
        background-color: #f4f4f4;\
        display: flex;\
        justify-content: center;\
        align-items: center;\
        height: 100vh;\
        margin: 0;\
      }\
      .form-container {\
        background-color: #fff;\
        padding: 20px;\
        border-radius: 8px;\
        box-shadow: 0 0 10px rgba(0, 0, 0, 0.1);\
        width: 600px;\
      }\
      h2 {\
        color: #333;\
        text-align: center;\
      }\
      .form-content {\
        display: flex;\
        justify-content: space-between;\
      }\
      .column {\
        display: flex;\
        flex-direction: column;\
        width: 48%;\
      }\
      label {\
        margin-bottom: 5px;\
        font-weight: bold;\
        color: #555;\
      }\
      input[type='text'] {\
        padding: 10px;\
        margin-bottom: 15px;\
        border: 1px solid #ccc;\
        border-radius: 4px;\
        font-size: 16px;\
      }\
      input[type='submit'] {\
        background-color: #28a745;\
        color: white;\
        border: none;\
        padding: 10px;\
        border-radius: 4px;\
        cursor: pointer;\
        font-size: 16px;\
        margin-top: 10px;\
        width: 100%;\
      }\
      input[type='submit']:hover {\
        background-color: #218838;\
      }\
    </style>\
  </head>\
  <body>\
    <div class=\"form-container\">\
      <h2>Configuration</h2>\
      <form action=\"/save\" method=\"POST\">\
        <div class=\"form-content\">\
          <div class=\"column\">\
            <label for=\"max_time_MA\">MAX Time A :</label>\
            <input type=\"text\" id=\"max_time_MA\" name=\"max_time_MA\" value=\"" + String(to_store.max_time[MA]) + "\">\
            <label for=\"theorique_position_MA\">Position A :</label>\
            <input type=\"text\" id=\"theorique_position_MA\" name=\"theorique_position_MA\" value=\"" + String(to_store.theorique_position[MA]) + "\">\
            <label for=\"speed_MA\">Speed A :</label>\
            <input type=\"text\" id=\"speed_MA\" name=\"speed_MA\" value=\"" + String(to_store.speed[MA]) + "\">\
            <label for=\"min_MA\">MIN angle A :</label>\
            <input type=\"text\" id=\"min_MA\" name=\"min_MA\" value=\"" + String(to_store.min[MA]) + "\">\
            <label for=\"max_MA\">MAX angle A :</label>\
            <input type=\"text\" id=\"max_MA\" name=\"max_MA\" value=\"" + String(to_store.max[MA]) + "\">\
          </div>\
          <div class=\"column\">\
            <label for=\"max_time_MB\">MAX Time B :</label>\
            <input type=\"text\" id=\"max_time_MB\" name=\"max_time_MB\" value=\"" + String(to_store.max_time[MB]) + "\">\
            <label for=\"theorique_position_MB\">Position B :</label>\
            <input type=\"text\" id=\"theorique_position_MB\" name=\"theorique_position_MB\" value=\"" + String(to_store.theorique_position[MB]) + "\">\
            <label for=\"speed_MB\">Speed B :</label>\
            <input type=\"text\" id=\"speed_MB\" name=\"speed_MB\" value=\"" + String(to_store.speed[MB]) + "\">\
            <label for=\"min_MB\">MIN angle B :</label>\
            <input type=\"text\" id=\"min_MB\" name=\"min_MB\" value=\"" + String(to_store.min[MB]) + "\">\
            <label for=\"max_MB\">MAX angle B :</label>\
            <input type=\"text\" id=\"max_MB\" name=\"max_MB\" value=\"" + String(to_store.max[MB]) + "\">\
          </div>\
        </div>\
        <input type=\"submit\" value=\"Save\">\
      </form>\
    </div>\
  </body>\
</html>";


  server.send(200, "text/html", html);
}

void handleSave() {
  if (server.hasArg("max_time_MA") && server.hasArg("max_time_MB")) {
    to_store.max_time[MA] = String(server.arg("max_time_MA").c_str()).toInt();
    to_store.max_time[MB] = String(server.arg("max_time_MB").c_str()).toInt();

    to_store.theorique_position[MA] = String(server.arg("theorique_position_MA").c_str()).toInt();
    to_store.theorique_position[MB] = String(server.arg("theorique_position_MB").c_str()).toInt();

    to_store.min[MA] = String(server.arg("min_MA").c_str()).toInt();
    to_store.max[MA] = String(server.arg("max_MA").c_str()).toInt();

    to_store.min[MB] = String(server.arg("min_MB").c_str()).toInt();
    to_store.max[MB] = String(server.arg("max_MB").c_str()).toInt();

    to_store.cl[MA] = String(server.arg("speed_MA").c_str()).toFloat();
    to_store.speed[MB] = String(server.arg("speed_MB").c_str()).toFloat();

    // Sauvegarde des paramètres dans l'EEPROM
    EEPROM.put(EEPROM_ADDRESS, to_store);
    EEPROM.commit();
    server.send(200, "text/plain", "Configuration saved");
  } else {
    server.send(400, "text/plain", "Invalid request");
  }
}


void handleSetDate() {
  //       year, month, day,

String html = "<html>\
  <head>\
    <style>\
      body {\
        font-family: Arial, sans-serif;\
        background-color: #f4f4f4;\
        display: flex;\
        justify-content: center;\
        align-items: center;\
        height: 100vh;\
        margin: 0;\
      }\
      .form-container {\
        background-color: #fff;\
        padding: 20px;\
        border-radius: 8px;\
        box-shadow: 0 0 10px rgba(0, 0, 0, 0.1);\
      }\
      h2 {\
        color: #333;\
      }\
      form {\
        display: flex;\
        flex-direction: column;\
      }\
      label {\
        margin-bottom: 5px;\
        font-weight: bold;\
        color: #555;\
      }\
      input[type='text'] {\
        padding: 10px;\
        margin-bottom: 15px;\
        border: 1px solid #ccc;\
        border-radius: 4px;\
        font-size: 16px;\
      }\
      input[type='submit'] {\
        background-color: #28a745;\
        color: white;\
        border: none;\
        padding: 10px;\
        border-radius: 4px;\
        cursor: pointer;\
        font-size: 16px;\
      }\
      input[type='submit']:hover {\
        background-color: #218838;\
      }\
    </style>\
  </head>\
  <body>\
    <div class=\"form-container\">\
      <h2>Date</h2>\
      <form action=\"/saveDate\" method=\"POST\">\
        <label for=\"year\">Ann&eacute;e :</label>\
        <input type=\"text\" id=\"year\" name=\"year\" value=\"" + String(year) + "\">\
        <label for=\"month\">Mois :</label>\
        <input type=\"text\" id=\"month\" name=\"month\" value=\"" + String( month) + "\">\
        <label for=\"day\">Jour :</label>\
        <input type=\"text\" id=\"day\" name=\"day\" value=\"" + String(day) + "\">\
        <label for=\"hours\">Heures :</label>\
        <input type=\"text\" id=\"hours\" name=\"hours\" value=\"" + String(hours) + "\">\
        <label for=\"minutes\">Minutes :</label>\
        <input type=\"text\" id=\"minutes\" name=\"minutes\" value=\"" + String(minutes) + "\">\
        <input type=\"submit\" value=\"Enregistrer la date\">\
      </form>\
    </div>\
  </body>\
</html>";


  server.send(200, "text/html", html);
}

void handleSaveDate() {

  myRTC.setDS1302Time (0, 
  String(server.arg("minutes").c_str()).toInt(), 
  String(server.arg("hours").c_str()).toInt(), 
  2, 
  String(server.arg("day").c_str()).toInt(), 
  String(server.arg("month").c_str()).toInt(), 
  String(server.arg("year").c_str()).toInt());


    myRTC.updateTime();
    printTime();
    
  server.send(200, "text/plain", "Date saved");
}

bool validateRTC(int year, int month, int day, int hour, int minute, int second) {
  if (month < 1 || month > 12) return false;
  if (day < 1 || day > 31) return false;
  if (hour < 0 || hour > 23) return false;
  if (minute < 0 || minute > 59) return false;
  if (second < 0 || second > 59) return false;

  // Vérification des jours dans le mois
  if (month == 2) {
    if (isLeapYear(year)) {
      if (day > 29) return false;
    } else {
      if (day > 28) return false;
    }
  } else if (month == 4 || month == 6 || month == 9 || month == 11) {
    if (day > 30) return false;
  }

  return true;
}

bool isLeapYear(int year) {
  if (year % 4 == 0) {
    if (year % 100 == 0) {
      if (year % 400 == 0) {
        return true;
      } else {
        return false;
      }
    } else {
      return true;
    }
  } else {
    return false;
  }
}

void blink()
{
  digitalWrite(PIN_LED, HIGH);
  delay(10);
  digitalWrite(PIN_LED, LOW);
  delay(10);
}