commit 1c87618a239cd94ee4759074cb66be3886ba7a7d
Author: rifkimaul2005 <rifkisaja325@gmail.com>
Date:   Thu Jul 30 00:45:32 2026 +0700

    Upload files to "/"

diff --git a/kode_penggulungan_otomaris.ino b/kode_penggulungan_otomaris.ino
new file mode 100644
index 0000000..288024a
--- /dev/null
+++ b/kode_penggulungan_otomaris.ino
@@ -0,0 +1,1143 @@
+#include <LiquidCrystal_I2C.h>
+#include <AccelStepper.h>
+#include <Keypad.h>
+#include <EEPROM.h>
+
+// ======================================================
+// LCD I2C
+// ======================================================
+LiquidCrystal_I2C lcd(0x27, 16, 2);
+
+// ======================================================
+// TB6600 + NEMA17 (Guide Kiri-Kanan)
+// ======================================================
+#define STEP_PIN 26
+#define DIR_PIN  27
+#define EN_PIN   15
+
+AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);
+
+// ======================================================
+// BTS7960 + PG45 (Motor Penarik Kabel) - SELALU KANAN/FORWARD
+// ======================================================
+#define RPWM 14
+#define LPWM 12
+#define PWM_FREQ 20000
+#define PWM_RESOLUTION 8
+
+int motorSpeed = 0;
+unsigned long lastMotorRamp = 0;
+
+// ======================================================
+// BUZZER
+// ======================================================
+#define BUZZER_PIN 25
+
+// ======================================================
+// KY-040 ENCODER  [FIX: DT = GPIO 34 (input only OK)]
+// ======================================================
+#define ENC_CLK 32
+#define ENC_DT  34
+
+volatile unsigned long pulseCount = 0;
+unsigned long lastPulseCount = 0;
+unsigned long lastPulseDetected = 0;
+volatile unsigned long lastPulseTime = 0;
+const unsigned long DEBOUNCE_US = 3000;
+
+// ======================================================
+// ENCODER OFFSET - KABEL MELEWATI ENCODER SEBELUM SPOOL
+// ======================================================
+const float ENCODER_OFFSET_METER = 0.80; // 80 cm offset
+bool encoderReset = false; // Flag untuk reset encoder di awal proses
+unsigned long resetPulseCount = 0; // Pulse count saat reset
+
+void IRAM_ATTR onEncoderPulse() {
+  unsigned long now = micros();
+  if ((now - lastPulseTime) > DEBOUNCE_US) {
+    if (digitalRead(ENC_DT) == HIGH) {
+      pulseCount++;
+    }
+    lastPulseTime = now;
+  }
+}
+
+// ======================================================
+// KEYPAD 4x4  [FIX: C4 = GPIO 33 (full I/O)]
+// ======================================================
+const byte ROWS = 4;
+const byte COLS = 4;
+char keys[ROWS][COLS] = {
+  {'1','2','3','A'},
+  {'4','5','6','B'},
+  {'7','8','9','C'},
+  {'*','0','#','D'}
+};
+
+byte rowPins[ROWS] = {4, 16, 17, 5};
+byte colPins[COLS] = {18, 19, 23, 33};
+
+Keypad keypad = Keypad(makeKeymap(keys), rowPins, colPins, ROWS, COLS);
+
+// ======================================================
+// VARIABLE INPUT & PROSES
+// ======================================================
+char inputBuffer[8] = "";
+byte inputIndex = 0;
+
+float targetMeter = 0;
+float sisaMeter = 0;
+float totalMeter = 0;
+
+// ======================================================
+// KALIBRASI ENCODER
+// ======================================================
+float meterPerPulse = 0.01;
+bool kalibrasiMode = false;
+unsigned long kalibrasiPulseStart = 0;
+unsigned long kalibrasiStartTime = 0;
+const unsigned long KALIBRASI_TIMEOUT = 30000; // 30 detik timeout
+
+bool autoMode = false;
+bool prosesSelesai = false;
+
+// ======================================================
+// MODE MANUAL 20 PUTARAN
+// ======================================================
+enum ManualState {
+  MANUAL_IDLE,
+  MANUAL_MAJU_20,
+  MANUAL_JEDA_1,
+  MANUAL_MUNDUR_20,
+  MANUAL_JEDA_2,
+  MANUAL_SELESAI
+};
+
+ManualState manualState = MANUAL_IDLE;
+
+const float STEPS_PER_REV = 3200.0;
+const int   PUTARAN_20 = 20;
+const long  TARGET_STEPS_20 = (long)(STEPS_PER_REV * PUTARAN_20);
+
+const float MANUAL_MAX_SPEED = 3000;
+const float MANUAL_ACCEL = 1500;
+const unsigned long MANUAL_JEDA_MS = 500;
+
+unsigned long manualJedaStart = 0;
+float putaranSaatIni = 0;
+
+// ======================================================
+// LOGIKA STEPPER AUTO - 65 PUTARAN KANAN-KIRI LOOP
+// ======================================================
+const int   PUTARAN_65 = 65;
+const long  STEPS_65_PUTARAN = (long)(STEPS_PER_REV * PUTARAN_65);
+
+const float AUTO_MAX_SPEED = 15000;
+const float AUTO_ACCEL = 8000;
+
+bool arahKanan = true;
+
+// ======================================================
+// TOGGLE STEPPER KE KIRI (TOMBOL A)
+// ======================================================
+bool stepperKiriJalan = false;
+
+// ======================================================
+// EEPROM ADDRESSES
+// ======================================================
+#define EEPROM_ADDR_CALIBRATED  0
+#define EEPROM_ADDR_METER_PP    4
+
+// ======================================================
+// TIMING VARIABLES
+// ======================================================
+unsigned long lastKey = 0;
+unsigned long lastLCD = 0;
+unsigned long lastSerialPrint = 0;
+
+// ======================================================
+// BUZZER FUNCTIONS
+// ======================================================
+void beep(int waktu) {
+  digitalWrite(BUZZER_PIN, HIGH);
+  delay(waktu);
+  digitalWrite(BUZZER_PIN, LOW);
+}
+
+void selesaiBuzzer() {
+  for (int i = 0; i < 5; i++) {
+    beep(100);
+    delay(100);
+  }
+}
+
+void errorBuzzer() {
+  for (int i = 0; i < 3; i++) {
+    beep(300);
+    delay(200);
+  }
+}
+
+void kalibrasiBuzzer() {
+  beep(500);
+  delay(200);
+  beep(500);
+  delay(200);
+  beep(500);
+}
+
+// ======================================================
+// LCD FUNCTIONS
+// ======================================================
+void lcdInit() {
+  Wire.begin(21, 22);
+  delay(100);
+  lcd.begin(16, 2);
+  delay(100);
+  lcd.backlight();
+  delay(100);
+  lcd.clear();
+  lcd.setCursor(0,0);
+  lcd.print("M14 Spool 16cm");
+  lcd.setCursor(0,1);
+  lcd.print("Ready");
+  delay(800);
+  lcd.clear();
+}
+
+void tampilLCD() {
+  static bool lastModeKalibrasi = false;
+  static bool lastModeAuto = false;
+  static bool lastModeSelesai = false;
+  static bool lastModeInput = false;
+  static bool lastKiriJalan = false;
+  static ManualState lastManualState = MANUAL_IDLE;
+
+  bool modeKalibrasi = kalibrasiMode;
+  bool modeAuto = autoMode;
+  bool modeSelesai = prosesSelesai;
+  bool modeInput = !kalibrasiMode && !autoMode && !prosesSelesai && manualState == MANUAL_IDLE && !stepperKiriJalan;
+  bool kiriJalan = stepperKiriJalan;
+
+  if (modeKalibrasi != lastModeKalibrasi || 
+      modeAuto != lastModeAuto || 
+      modeSelesai != lastModeSelesai ||
+      modeInput != lastModeInput ||
+      manualState != lastManualState ||
+      kiriJalan != lastKiriJalan) {
+    lcd.clear();
+    lastModeKalibrasi = modeKalibrasi;
+    lastModeAuto = modeAuto;
+    lastModeSelesai = modeSelesai;
+    lastModeInput = modeInput;
+    lastManualState = manualState;
+    lastKiriJalan = kiriJalan;
+  }
+
+  if (stepperKiriJalan) {
+    lcd.setCursor(0,0);
+    lcd.print("KE KIRI...      ");
+    lcd.setCursor(0,1);
+    lcd.print("Pos:");
+    lcd.print(stepper.currentPosition());
+    lcd.print("    ");
+  }
+  else if (kalibrasiMode) {
+    lcd.setCursor(0,0);
+    lcd.print("KALIBRASI       ");
+    lcd.setCursor(0,1);
+    lcd.print("Pulse:");
+    unsigned long currentPulse = pulseCount;
+    unsigned long diff = currentPulse - kalibrasiPulseStart;
+    lcd.print("      ");
+    lcd.setCursor(6,1);
+    lcd.print(diff);
+    lcd.print("   ");
+    
+    // Tampilkan sisa waktu
+    unsigned long elapsed = millis() - kalibrasiStartTime;
+    unsigned long remaining = (KALIBRASI_TIMEOUT - elapsed) / 1000;
+    lcd.setCursor(12,1);
+    lcd.print(remaining);
+    lcd.print("s ");
+  }
+  else if (autoMode) {
+    lcd.setCursor(0,0);
+    lcd.print("Sisa:");
+    lcd.print(sisaMeter, 1);
+    lcd.print("m  ");
+    lcd.setCursor(0,1);
+    lcd.print(arahKanan ? ">>" : "<<");
+    lcd.print(" ");
+    lcd.print(totalMeter, 1);
+    lcd.print("m ");
+    
+    // Tambahkan indikator offset di pojok
+    lcd.setCursor(13,0);
+    lcd.print("+80");
+  }
+  else if (manualState != MANUAL_IDLE && manualState != MANUAL_SELESAI) {
+    lcd.setCursor(0,0);
+    lcd.print("M20:");
+    lcd.print(abs(putaranSaatIni), 1);
+    lcd.print("/20");
+    lcd.setCursor(0,1);
+    if (manualState == MANUAL_MAJU_20) {
+      lcd.print("MAJU CW         ");
+    } else if (manualState == MANUAL_JEDA_1) {
+      lcd.print("JEDA...         ");
+    } else if (manualState == MANUAL_MUNDUR_20) {
+      lcd.print("MUNDUR CCW      ");
+    } else if (manualState == MANUAL_JEDA_2) {
+      lcd.print("JEDA...         ");
+    }
+  }
+  else if (manualState == MANUAL_SELESAI) {
+    lcd.setCursor(0,0);
+    lcd.print("M20 SELESAI!    ");
+    lcd.setCursor(0,1);
+    lcd.print("20CW 20CCW Done");
+  }
+  else if (prosesSelesai) {
+    lcd.setCursor(0,0);
+    lcd.print("SELESAI         ");
+    lcd.setCursor(0,1);
+    lcd.print("Total:");
+    lcd.print(totalMeter, 2);
+    lcd.print("m");
+  }
+  else {
+    lcd.setCursor(0,0);
+    lcd.print("INPUT:");
+    lcd.print(inputBuffer);
+    for (int i = inputIndex; i < 6; i++) {
+      lcd.print(" ");
+    }
+    lcd.setCursor(0,1);
+    lcd.print("A=KIRI #=GO");
+    lcd.print("   ");
+    // Tampilkan status kalibrasi di pojok
+    if (meterPerPulse > 0 && meterPerPulse < 1) {
+      lcd.setCursor(13,1);
+      lcd.print("CLB");
+    }
+  }
+}
+
+// ======================================================
+// STOP STEPPER
+// ======================================================
+void stopStepperNow() {
+  stepper.stop();
+  unsigned long timeout = millis() + 3000;
+  while (stepper.distanceToGo() != 0 && millis() < timeout) {
+    stepper.run();
+  }
+  long currentPos = stepper.currentPosition();
+  stepper.setCurrentPosition(currentPos);
+  stepper.moveTo(currentPos);
+  stepper.setSpeed(0);
+  digitalWrite(EN_PIN, HIGH);
+}
+
+// ======================================================
+// EEPROM
+// ======================================================
+void saveCalibration() {
+  EEPROM.writeFloat(EEPROM_ADDR_METER_PP, meterPerPulse);
+  EEPROM.writeInt(EEPROM_ADDR_CALIBRATED, 1);
+  EEPROM.commit();
+  Serial.println("Kalibrasi tersimpan ke EEPROM!");
+}
+
+void loadCalibration() {
+  int calibrated = EEPROM.readInt(EEPROM_ADDR_CALIBRATED);
+  if (calibrated == 1) {
+    float saved = EEPROM.readFloat(EEPROM_ADDR_METER_PP);
+    if (saved > 0.0 && saved < 1.0) {
+      meterPerPulse = saved;
+      Serial.print("Calibration loaded: ");
+      Serial.println(meterPerPulse, 6);
+    }
+  }
+}
+
+// ======================================================
+// KALIBRASI FUNCTIONS
+// ======================================================
+void toggleKalibrasi() {
+  if (autoMode || manualState != MANUAL_IDLE || stepperKiriJalan) {
+    Serial.println("ERROR: Sedang mode aktif!");
+    errorBuzzer();
+    return;
+  }
+  
+  if (!kalibrasiMode) {
+    // Start kalibrasi
+    kalibrasiMode = true;
+    kalibrasiPulseStart = pulseCount;
+    kalibrasiStartTime = millis();
+    
+    // Matikan auto mode
+    autoMode = false;
+    prosesSelesai = false;
+    
+    // Hidupkan motor penarik dengan kecepatan rendah
+    motorSpeed = 50;
+    ledcWrite(RPWM, motorSpeed);
+    ledcWrite(LPWM, 0);
+    
+    lcd.clear();
+    lcd.setCursor(0,0);
+    lcd.print("KALIBRASI");
+    lcd.setCursor(0,1);
+    lcd.print("Gulung 1 meter");
+    
+    Serial.println("");
+    Serial.println("========================================");
+    Serial.println("        MULAI KALIBRASI");
+    Serial.println("========================================");
+    Serial.println("Gulung kabel tepat 1 meter");
+    Serial.println("Tekan C lagi untuk selesai");
+    Serial.println("Atau tunggu 30 detik timeout");
+    Serial.println("========================================");
+    
+    kalibrasiBuzzer();
+  } else {
+    // Stop kalibrasi
+    unsigned long currentPulse = pulseCount;
+    unsigned long totalPulse = currentPulse - kalibrasiPulseStart;
+    
+    // Matikan motor
+    motorSpeed = 0;
+    ledcWrite(RPWM, 0);
+    ledcWrite(LPWM, 0);
+    
+    kalibrasiMode = false;
+    
+    lcd.clear();
+    lcd.setCursor(0,0);
+    lcd.print("Pulse:");
+    lcd.print(totalPulse);
+    
+    Serial.println("");
+    Serial.println("========================================");
+    Serial.println("        SELESAI KALIBRASI");
+    Serial.println("========================================");
+    Serial.print("Total pulse untuk 1 meter: ");
+    Serial.println(totalPulse);
+    
+    if (totalPulse > 0) {
+      float newMeterPerPulse = 1.0 / (float)totalPulse;
+      meterPerPulse = newMeterPerPulse;
+      
+      Serial.print("meterPerPulse = ");
+      Serial.println(newMeterPerPulse, 6);
+      
+      saveCalibration();
+      
+      lcd.setCursor(0,1);
+      lcd.print("Saved! ");
+      lcd.print(meterPerPulse, 6);
+      
+      kalibrasiBuzzer();
+    } else {
+      Serial.println("ERROR: Tidak ada pulse terbaca!");
+      lcd.setCursor(0,1);
+      lcd.print("ERROR! No pulse");
+      errorBuzzer();
+    }
+    
+    delay(3000);
+    tampilLCD();
+  }
+}
+
+void checkKalibrasiTimeout() {
+  if (kalibrasiMode) {
+    if (millis() - kalibrasiStartTime > KALIBRASI_TIMEOUT) {
+      Serial.println("Kalibrasi timeout!");
+      
+      // Matikan motor
+      motorSpeed = 0;
+      ledcWrite(RPWM, 0);
+      ledcWrite(LPWM, 0);
+      
+      kalibrasiMode = false;
+      
+      lcd.clear();
+      lcd.setCursor(0,0);
+      lcd.print("TIMEOUT!");
+      lcd.setCursor(0,1);
+      lcd.print("Coba ulang");
+      errorBuzzer();
+      delay(2000);
+      tampilLCD();
+    }
+  }
+}
+
+// ======================================================
+// RESET ENCODER DI AWAL PROSES
+// ======================================================
+void resetEncoderForProcess() {
+  if (!encoderReset) {
+    noInterrupts();
+    pulseCount = 0;
+    lastPulseCount = 0;
+    interrupts();
+    encoderReset = true;
+    resetPulseCount = 0;
+    
+    // Set total meter dengan offset 80cm
+    totalMeter = ENCODER_OFFSET_METER;
+    sisaMeter = targetMeter - ENCODER_OFFSET_METER;
+    if (sisaMeter < 0) sisaMeter = 0;
+    
+    Serial.println("=== ENCODER RESET ===");
+    Serial.print("Offset 80cm ditambahkan, totalMeter = ");
+    Serial.println(totalMeter, 3);
+    Serial.print("Sisa meter = ");
+    Serial.println(sisaMeter, 3);
+  }
+}
+
+// ======================================================
+// SETUP
+// ======================================================
+void setup() {
+  Serial.begin(115200);
+  delay(1000);
+
+  EEPROM.begin(512);
+  loadCalibration();
+
+  Serial.println("========================================");
+  Serial.println("   M14 SPOOL 16cm - KABEL OTOMATIS");
+  Serial.println("   [v5.5 - With Encoder Offset 80cm]");
+  Serial.println("========================================");
+  Serial.print("Keypad Row: ");
+  Serial.print(rowPins[0]); Serial.print(", ");
+  Serial.print(rowPins[1]); Serial.print(", ");
+  Serial.print(rowPins[2]); Serial.print(", ");
+  Serial.println(rowPins[3]);
+  Serial.print("Keypad Col: ");
+  Serial.print(colPins[0]); Serial.print(", ");
+  Serial.print(colPins[1]); Serial.print(", ");
+  Serial.print(colPins[2]); Serial.print(", ");
+  Serial.println(colPins[3]);
+  Serial.print("Encoder CLK: "); Serial.println(ENC_CLK);
+  Serial.print("Encoder DT:  "); Serial.println(ENC_DT);
+  Serial.print("Steps 20 putaran: ");
+  Serial.println(TARGET_STEPS_20);
+  Serial.print("Steps 65 putaran: ");
+  Serial.println(STEPS_65_PUTARAN);
+  Serial.print("Current meterPerPulse: ");
+  Serial.println(meterPerPulse, 6);
+  Serial.print("Encoder Offset: ");
+  Serial.print(ENCODER_OFFSET_METER);
+  Serial.println(" meter (80cm)");
+  Serial.println("========================================");
+  Serial.println("C = Kalibrasi (tekan 2x)");
+  Serial.println("A = Ke Kiri");
+  Serial.println("B = Manual 20 Putaran");
+  Serial.println("* = Stop");
+  Serial.println("# = GO (mulai proses)");
+  Serial.println("========================================");
+
+  lcdInit();
+
+  pinMode(BUZZER_PIN, OUTPUT);
+  digitalWrite(BUZZER_PIN, LOW);
+
+  pinMode(ENC_CLK, INPUT_PULLUP);
+  pinMode(ENC_DT, INPUT_PULLUP);
+  attachInterrupt(digitalPinToInterrupt(ENC_CLK), onEncoderPulse, FALLING);
+
+  pinMode(EN_PIN, OUTPUT);
+  digitalWrite(EN_PIN, HIGH);
+
+  ledcAttach(RPWM, PWM_FREQ, PWM_RESOLUTION);
+  ledcAttach(LPWM, PWM_FREQ, PWM_RESOLUTION);
+  ledcWrite(RPWM, 0);
+  ledcWrite(LPWM, 0);
+
+  stepper.setMaxSpeed(AUTO_MAX_SPEED);
+  stepper.setAcceleration(AUTO_ACCEL);
+  stepper.setSpeed(0);
+
+  tampilLCD();
+  Serial.println("System Ready");
+}
+
+// ======================================================
+// LOOP
+// ======================================================
+// ======================================================
+// LOOP (LENGKAP)
+// ======================================================
+void loop() {
+  stepper.run();
+
+  bacaKeypad();
+  bacaEncoder();
+  handleManual20();
+  checkKalibrasiTimeout();
+
+  if (stepperKiriJalan && stepper.distanceToGo() == 0) {
+    stepperKiriJalan = false;
+    digitalWrite(EN_PIN, HIGH);
+    Serial.println(">>> SUDAH SAMPAI KIRI <<<");
+    lcd.clear();
+    lcd.setCursor(0,0);
+    lcd.print("SUDAH KIRI");
+    delay(800);
+    tampilLCD();
+  }
+
+  if (autoMode) {
+    if (millis() - lastMotorRamp > 30) {
+      lastMotorRamp = millis();
+      if (motorSpeed < 100) motorSpeed += 4;
+    }
+    ledcWrite(RPWM, motorSpeed);
+    ledcWrite(LPWM, 0);
+  } 
+  else {
+    if (millis() - lastMotorRamp > 30) {
+      lastMotorRamp = millis();
+      if (motorSpeed > 0) {
+        motorSpeed -= 8;
+        if (motorSpeed < 0) motorSpeed = 0;
+      }
+    }
+    ledcWrite(RPWM, motorSpeed);
+    ledcWrite(LPWM, 0);
+  }
+
+  if (autoMode && (millis() - lastPulseDetected > 15000)) {
+    autoMode = false;
+    stopStepperNow();
+    lcd.clear();
+    lcd.setCursor(0,0);
+    lcd.print("ENCODER ERROR");
+    errorBuzzer();
+  }
+
+  if (millis() - lastLCD > 200) {
+    tampilLCD();
+    lastLCD = millis();
+  }
+
+  if (millis() - lastSerialPrint > 1000) {
+    if (autoMode || kalibrasiMode || manualState != MANUAL_IDLE || stepperKiriJalan) {
+      Serial.print("Pos: ");
+      Serial.print(stepper.currentPosition());
+      Serial.print(" | KiriJalan: ");
+      Serial.print(stepperKiriJalan ? "YES" : "NO");
+      Serial.print(" | Putaran: ");
+      Serial.print(abs(putaranSaatIni), 2);
+      if (kalibrasiMode) {
+        Serial.print(" | Kalibrasi Pulse: ");
+        Serial.print(pulseCount - kalibrasiPulseStart);
+      }
+      if (autoMode) {
+        Serial.print(" | Total: ");
+        Serial.print(totalMeter, 3);
+        Serial.print("m | Sisa: ");
+        Serial.print(sisaMeter, 3);
+        Serial.print("m | Offset: 0.80m");
+      }
+      Serial.println("");
+    }
+    lastSerialPrint = millis();
+  }
+}
+
+// ======================================================
+// HANDLE MANUAL 20 PUTARAN
+// ======================================================
+void handleManual20() {
+  if (manualState == MANUAL_IDLE || manualState == MANUAL_SELESAI) return;
+
+  hitungPutaranManual();
+
+  switch (manualState) {
+    case MANUAL_MAJU_20:
+      if (stepper.distanceToGo() == 0) {
+        Serial.println(">>> 20 PUTARAN MAJU SELESAI!");
+        Serial.print("Posisi: ");
+        Serial.print(stepper.currentPosition());
+        Serial.println(" steps");
+        manualState = MANUAL_JEDA_1;
+        manualJedaStart = millis();
+      }
+      break;
+
+    case MANUAL_JEDA_1:
+      if (millis() - manualJedaStart >= MANUAL_JEDA_MS) {
+        Serial.println(">>> MULAI MUNDUR 20 PUTARAN");
+        stepper.moveTo(0);
+        manualState = MANUAL_MUNDUR_20;
+        putaranSaatIni = 0;
+      }
+      break;
+
+    case MANUAL_MUNDUR_20:
+      if (stepper.distanceToGo() == 0) {
+        Serial.println(">>> 20 PUTARAN MUNDUR SELESAI!");
+        Serial.print("Posisi: ");
+        Serial.print(stepper.currentPosition());
+        Serial.println(" steps");
+        manualState = MANUAL_JEDA_2;
+        manualJedaStart = millis();
+      }
+      break;
+
+    case MANUAL_JEDA_2:
+      if (millis() - manualJedaStart >= MANUAL_JEDA_MS) {
+        Serial.println("=================================");
+        Serial.println("  MANUAL 20 PUTARAN SELESAI!");
+        Serial.println("=================================");
+        manualState = MANUAL_SELESAI;
+        digitalWrite(EN_PIN, HIGH);
+        for (int i = 0; i < 3; i++) {
+          beep(200);
+          delay(100);
+        }
+      }
+      break;
+
+    default:
+      break;
+  }
+}
+
+// ======================================================
+// HITUNG PUTARAN REAL-TIME
+// ======================================================
+void hitungPutaranManual() {
+  long posisi = stepper.currentPosition();
+  putaranSaatIni = (float)posisi / STEPS_PER_REV;
+}
+
+// ======================================================
+// FUNGSI MANUAL STEPPER
+// ======================================================
+void mulaiManualMaju20() {
+  if (autoMode || kalibrasiMode || stepperKiriJalan) {
+    Serial.println("ERROR: Sedang mode aktif!");
+    errorBuzzer();
+    return;
+  }
+  Serial.println("");
+  Serial.println(">>> MULAI MAJU 20 PUTARAN <<<");
+  Serial.print("Target: ");
+  Serial.print(TARGET_STEPS_20);
+  Serial.println(" steps");
+
+  manualState = MANUAL_MAJU_20;
+  putaranSaatIni = 0;
+
+  digitalWrite(EN_PIN, LOW);
+  stepper.setMaxSpeed(MANUAL_MAX_SPEED);
+  stepper.setAcceleration(MANUAL_ACCEL);
+  stepper.setCurrentPosition(0);
+  stepper.moveTo(TARGET_STEPS_20);
+
+  beep(100);
+}
+
+void mulaiManualMundur20() {
+  if (autoMode || kalibrasiMode || stepperKiriJalan) {
+    Serial.println("ERROR: Sedang mode aktif!");
+    errorBuzzer();
+    return;
+  }
+  Serial.println("");
+  Serial.println(">>> MULAI MUNDUR 20 PUTARAN <<<");
+
+  manualState = MANUAL_MUNDUR_20;
+  putaranSaatIni = 0;
+
+  digitalWrite(EN_PIN, LOW);
+  stepper.setMaxSpeed(MANUAL_MAX_SPEED);
+  stepper.setAcceleration(MANUAL_ACCEL);
+  stepper.setCurrentPosition(0);
+  stepper.moveTo(-TARGET_STEPS_20);
+
+  beep(100);
+}
+
+void stopManual20() {
+  Serial.println(">>> STOP MANUAL 20 <<<");
+  stepper.stop();
+  unsigned long timeout = millis() + 3000;
+  while (stepper.distanceToGo() != 0 && millis() < timeout) {
+    stepper.run();
+  }
+  long currentPos = stepper.currentPosition();
+  stepper.setCurrentPosition(currentPos);
+  stepper.moveTo(currentPos);
+  stepper.setSpeed(0);
+  digitalWrite(EN_PIN, HIGH);
+
+  manualState = MANUAL_IDLE;
+  putaranSaatIni = 0;
+
+  beep(100);
+  lcd.clear();
+  lcd.setCursor(0,0);
+  lcd.print("MANUAL STOPPED");
+  delay(1000);
+  tampilLCD();
+}
+
+// ======================================================
+// STEPPER KE KIRI (TOMBOL A)
+// ======================================================
+void toggleStepperKiri() {
+  if (autoMode || kalibrasiMode) {
+    Serial.println("ERROR: Sedang mode auto/kalibrasi!");
+    errorBuzzer();
+    return;
+  }
+  if (manualState != MANUAL_IDLE && manualState != MANUAL_SELESAI) {
+    Serial.println("ERROR: Sedang mode manual!");
+    errorBuzzer();
+    return;
+  }
+
+  if (!stepperKiriJalan) {
+    Serial.println("");
+    Serial.println(">>> MULAI KE KIRI <<<");
+    Serial.print("Dari: ");
+    Serial.print(stepper.currentPosition());
+    Serial.println(" -> 0");
+
+    stepperKiriJalan = true;
+    digitalWrite(EN_PIN, LOW);
+    stepper.setMaxSpeed(AUTO_MAX_SPEED);
+    stepper.setAcceleration(AUTO_ACCEL);
+    stepper.moveTo(0);
+    arahKanan = false;
+
+    lcd.clear();
+    lcd.setCursor(0,0);
+    lcd.print("KE KIRI...      ");
+    beep(100);
+  } else {
+    Serial.println(">>> STOP KE KIRI <<<");
+    stepperKiriJalan = false;
+    stopStepperNow();
+
+    lcd.clear();
+    lcd.setCursor(0,0);
+    lcd.print("STOP KIRI");
+    delay(1000);
+    tampilLCD();
+  }
+}
+
+// ======================================================
+// KEYPAD
+// ======================================================
+void bacaKeypad() {
+  char key = keypad.getKey();
+  if (millis() - lastKey < 150) return;
+  if (!key) return;
+
+  lastKey = millis();
+  beep(15);
+
+  // ====================================================
+  // TOMBOL C = KALIBRASI (TANPA MENGGANGGU SISTEM LAIN)
+  // ====================================================
+  if (key == 'C') {
+    // Cek apakah bisa kalibrasi
+    if (autoMode || manualState != MANUAL_IDLE || stepperKiriJalan) {
+      Serial.println("ERROR: Sedang mode aktif!");
+      errorBuzzer();
+      return;
+    }
+    toggleKalibrasi();
+    return;
+  }
+
+  // Tombol A = TOGGLE KE KIRI
+  if (key == 'A') {
+    // Kalibrasi mode tidak bisa akses ke kiri
+    if (kalibrasiMode) {
+      Serial.println("ERROR: Sedang kalibrasi!");
+      errorBuzzer();
+      return;
+    }
+    toggleStepperKiri();
+    return;
+  }
+
+  // Tombol * = STOP
+  if (key == '*') {
+    if (stepperKiriJalan) {
+      toggleStepperKiri();
+    } else if (manualState != MANUAL_IDLE && manualState != MANUAL_SELESAI) {
+      stopManual20();
+    } else if (kalibrasiMode) {
+      // Jika kalibrasi, stop motor tapi tetap di mode kalibrasi
+      motorSpeed = 0;
+      ledcWrite(RPWM, 0);
+      ledcWrite(LPWM, 0);
+      Serial.println("Motor kalibrasi di-stop");
+    } else {
+      stopProses();
+    }
+    return;
+  }
+
+  // Tombol B = Manual Maju 20 + Mundur 20
+  if (key == 'B') {
+    if (autoMode || kalibrasiMode || stepperKiriJalan) {
+      Serial.println("ERROR: Sedang mode aktif!");
+      errorBuzzer();
+      return;
+    }
+    if (manualState != MANUAL_IDLE && manualState != MANUAL_SELESAI) {
+      stopManual20();
+      return;
+    }
+    mulaiManualMaju20();
+    return;
+  }
+
+  // Jika sedang kalibrasi, tombol lain tidak berfungsi (kecuali C dan *)
+  if (kalibrasiMode) return;
+
+  // Jika mode manual aktif, tombol angka tidak berfungsi
+  if (manualState != MANUAL_IDLE && manualState != MANUAL_SELESAI) return;
+
+  // Tombol D = DELETE / HAPUS
+  if (key == 'D') {
+    if (inputIndex > 0) {
+      inputIndex--;
+      inputBuffer[inputIndex] = '\0';
+      Serial.print("Hapus: inputBuffer = ");
+      Serial.println(inputBuffer);
+      tampilLCD();
+    }
+    return;
+  }
+
+  // Tombol angka = Input meter
+  if (key >= '0' && key <= '9') {
+    if (prosesSelesai) {
+      prosesSelesai = false;
+      inputBuffer[0] = '\0';
+      inputIndex = 0;
+    }
+    if (inputIndex < 5) {
+      inputBuffer[inputIndex] = key;
+      inputIndex++;
+      inputBuffer[inputIndex] = '\0';
+      Serial.print("Input: ");
+      Serial.println(inputBuffer);
+      tampilLCD();
+    }
+  }
+  else if (key == '#') {
+    if (inputIndex > 0) {
+      startProses();
+    }
+  }
+}
+
+// ======================================================
+// START PROSES AUTO - 65 PUTARAN LOOP
+// ======================================================
+void startProses() {
+  if (manualState != MANUAL_IDLE && manualState != MANUAL_SELESAI) {
+    Serial.println("ERROR: Sedang mode manual!");
+    errorBuzzer();
+    return;
+  }
+  if (stepperKiriJalan) {
+    Serial.println("ERROR: Stepper sedang ke kiri!");
+    errorBuzzer();
+    return;
+  }
+  if (kalibrasiMode) {
+    Serial.println("ERROR: Sedang kalibrasi!");
+    errorBuzzer();
+    return;
+  }
+
+  targetMeter = atof(inputBuffer);
+  if (targetMeter <= 0.0 || targetMeter > 9999.0) {
+    lcd.clear();
+    lcd.setCursor(0,0);
+    lcd.print("ERROR: Invalid");
+    lcd.setCursor(0,1);
+    lcd.print("Input!");
+    errorBuzzer();
+    delay(2000);
+    inputBuffer[0] = '\0';
+    inputIndex = 0;
+    return;
+  }
+
+  // Cek apakah kalibrasi sudah dilakukan
+  if (meterPerPulse <= 0.0 || meterPerPulse >= 1.0) {
+    lcd.clear();
+    lcd.setCursor(0,0);
+    lcd.print("ERROR: Belum");
+    lcd.setCursor(0,1);
+    lcd.print("Kalibrasi!");
+    errorBuzzer();
+    delay(2000);
+    return;
+  }
+
+  prosesSelesai = false;
+  autoMode = true;
+  arahKanan = true;
+  motorSpeed = 0;
+  lastPulseDetected = millis();
+  encoderReset = false; // Reset flag untuk proses baru
+
+  // RESET ENCODER KE 0 DAN SET OFFSET 80CM
+  noInterrupts();
+  pulseCount = 0;
+  lastPulseCount = 0;
+  interrupts();
+  
+  // Set total meter dengan offset 80cm
+  totalMeter = ENCODER_OFFSET_METER;
+  sisaMeter = targetMeter - ENCODER_OFFSET_METER;
+  if (sisaMeter < 0) sisaMeter = 0;
+  
+  Serial.println("=== ENCODER RESET ===");
+  Serial.print("Offset 80cm ditambahkan, totalMeter = ");
+  Serial.println(totalMeter, 3);
+  Serial.print("Sisa meter = ");
+  Serial.println(sisaMeter, 3);
+
+  digitalWrite(EN_PIN, LOW);
+
+  stepper.setMaxSpeed(AUTO_MAX_SPEED);
+  stepper.setAcceleration(AUTO_ACCEL);
+  stepper.setMinPulseWidth(5);
+  stepper.setCurrentPosition(0);
+  stepper.moveTo(STEPS_65_PUTARAN);
+
+  Serial.println("");
+  Serial.println("=== PROSES DIMULAI ===");
+  Serial.print("Target: ");
+  Serial.print(targetMeter);
+    Serial.println(" meter");
+  Serial.print("meterPerPulse: ");
+  Serial.println(meterPerPulse, 6);
+  Serial.println("Stepper loop: 65 putaran kanan <-> kiri");
+  Serial.print("Encoder offset: ");
+  Serial.print(ENCODER_OFFSET_METER);
+  Serial.println(" meter (80cm)");
+
+  beep(100);
+  lcd.clear();
+  lcd.setCursor(0,0);
+  lcd.print("MULAI");
+  lcd.setCursor(0,1);
+  lcd.print("Target:");
+  lcd.print(targetMeter, 1);
+  lcd.print("m");
+}
+
+// ======================================================
+// STOP PROSES - BERHENTI TOTAL
+// ======================================================
+void stopProses() {
+  autoMode = false;
+  kalibrasiMode = false;
+
+  unsigned long stopTimeout = millis() + 2000;
+  while (motorSpeed > 0 && millis() < stopTimeout) {
+    if (millis() - lastMotorRamp > 30) {
+      lastMotorRamp = millis();
+      motorSpeed -= 8;
+      if (motorSpeed < 0) motorSpeed = 0;
+      ledcWrite(RPWM, motorSpeed);
+    }
+    delay(5);
+  }
+
+  ledcWrite(RPWM, 0);
+  ledcWrite(LPWM, 0);
+  stopStepperNow();
+
+  inputBuffer[0] = '\0';
+  inputIndex = 0;
+  prosesSelesai = true;
+
+  // Hitung total aktual (sudah termasuk offset 80cm)
+  float totalAktual = totalMeter;
+  if (totalAktual < 0) totalAktual = 0;
+
+  Serial.println("");
+  Serial.println("=== PROSES SELESAI ===");
+  Serial.print("Total meter (termasuk 80cm offset): ");
+  Serial.print(totalAktual, 3);
+  Serial.println("m");
+  Serial.print("Panjang kabel yang digulung: ");
+  Serial.print(totalAktual - ENCODER_OFFSET_METER, 3);
+  Serial.println("m (dari encoder)");
+  Serial.print("Target: ");
+  Serial.print(targetMeter, 3);
+  Serial.println("m");
+
+  selesaiBuzzer();
+  
+  lcd.clear();
+  lcd.setCursor(0,0);
+  lcd.print("SELESAI");
+  lcd.setCursor(0,1);
+  lcd.print("Total:");
+  lcd.print(totalAktual, 2);
+  lcd.print("m");
+}
+
+// ======================================================
+// ENCODER + STEPPER 65 PUTARAN LOOP
+// ======================================================
+void bacaEncoder() {
+  if (!autoMode && !kalibrasiMode) return;
+
+  unsigned long currentPulse = pulseCount;
+
+  if (currentPulse > lastPulseCount) {
+    unsigned long newPulses = currentPulse - lastPulseCount;
+    lastPulseCount = currentPulse;
+    lastPulseDetected = millis();
+
+    // Tambahkan pulse ke total meter (mulai dari offset 80cm)
+    totalMeter += (newPulses * meterPerPulse);
+    sisaMeter -= (newPulses * meterPerPulse);
+    if (sisaMeter < 0) sisaMeter = 0;
+
+    if (autoMode) {
+      if (stepper.distanceToGo() == 0) {
+        if (arahKanan) {
+          stepper.moveTo(0);
+          arahKanan = false;
+          Serial.println("Kanan 65x selesai -> Langsung kiri 65x");
+        } else {
+          stepper.moveTo(STEPS_65_PUTARAN);
+          arahKanan = true;
+          Serial.println("Kiri 65x selesai -> Langsung kanan 65x");
+        }
+      }
+
+      if (sisaMeter <= 0) {
+        Serial.println("TARGET TERCAPAI! STOP SEMUA.");
+        stopProses();
+      }
+    }
+  }
+}