#include <EEPROM.h> //the eeprom library

int motor1=6;    //pin assignments for pwm outputs
int motor2=9; 
int motor3=10;
int motor4=11;

int r1=0;        //pin assignments for keyboard rows and columns (digital)
int r2=1;
int r3=2;
int r4=3;
int c1=4;
int c2=5;
int c3=7;

int ledPin = 13;  //arduino LED pin
int plus=12;      //tuning buttons
int minus=8;
int modebutton=0;  //mode button--this is an analog input acting like a digital input

int sinput1=5;      //pin assignments for pot analog inputs
int sinput2=4;
int sinput3=3;
int sinput4=2;

int feedback1=0;    //variables for feedback values from pot of 0-1024
int feedback2=0;  
int feedback3=0; 
int feedback4=0; 

int keynumber=0;     // variable for keyboard input


//slide variables
int slidemode=0; 
int delayconstant=80;  //40 is about one second
int newcommand1=512;
int oldcommand1=512;
int startpoint1=512;
int commandstep1=5;  //the ramp step height
int rampcount1=1;    //ramp step counter
int rampdelay1=1;    //ramp step duration

int newcommand2=512;
int oldcommand2=512;
int startpoint2=512;
int commandstep2=5;  //the ramp step height
int rampcount2=1;    //ramp step counter
int rampdelay2=1;    //ramp step duration

int newcommand3=512;
int oldcommand3=512;
int startpoint3=512;
int commandstep3=5;  //the ramp step height
int rampcount3=1;    //ramp step counter
int rampdelay3=1;    //ramp step duration

int newcommand4=512;
int oldcommand4=512;
int startpoint4=512;
int commandstep4=5;  //the ramp step height
int rampcount4=1;    //ramp step counter
int rampdelay4=1;    //ramp step duration


// integration error variables
int keychange=0;      // has a new key been struck
int oldkeynumber=0;
int oldfeedback1=0;
int oldfeedback2=0;
int oldfeedback3=0;
int oldfeedback4=0;
int integrate_error1=0;



int commandnumber1=512;     //servo command 0-1024
int commandnumber2=512;  
int commandnumber3=512;
int commandnumber4=512; 

int oldcommandnumber1=512;   //previous servo command 0-1024
int oldcommandnumber2=512;  
int oldcommandnumber3=512;
int oldcommandnumber4=512; 

float rawerror1=0;            // error between feedback and command
float rawerror2=0; 
float rawerror3=0;
float rawerror4=0;

int motorout1=0;              //output to motor 
int motorout2=0;
int motorout3=0;
int motorout4=0;

int count1=0;                  // the servo when error is small
int count2=0;
int count3=0;
int count4=0; 

int gainfactor1=7;              //divisor that implements gain factor (smaller divisor more gain)
int gainfactor2=7;
int gainfactor3=7;
int gainfactor4=7;

float integratefactor1=0;
float integratefactor2=0;
float integratefactor3=0;
float integratefactor4=0;

byte lsbyte=0;
byte msbyte=0;

//default array to map key to tension, 13th entry for safety
int keymap1[]={
  200, 250, 300, 350, 400, 450, 500, 600, 650, 700, 750, 800, 850};
int keymap2[]={
  200, 250, 300, 350, 400, 450, 500, 600, 650, 700, 750, 800, 850};
int keymap3[]={
  200, 250, 300, 350, 400, 450, 500, 600, 650, 700, 750, 800, 850};
int keymap4[]={
  200, 250, 300, 350, 400, 450, 500, 600, 650, 700, 750, 800, 850};

int norepeat=0;  //a flag to prevent repetion of commands in main loop 
//int norepeat1=0;  //a flag for string goose
int mode1=0;  //mode state first digit
int mode2=0;  //mode state first digit


void keyboardread()  //read the keyboard and assign global keynumber with number 0-11 (vertical raster starting @ 0= upper left corner)
{   
  digitalWrite(c1, LOW);
  digitalWrite(c2, HIGH);
  digitalWrite(c3, HIGH);

  if (digitalRead(r1)==0)  keynumber=0;
  if (digitalRead(r2)==0)  keynumber=1;
  if (digitalRead(r3)==0)  keynumber=2;
  if (digitalRead(r4)==0)  keynumber=3;

  digitalWrite(c1, HIGH);
  digitalWrite(c2, LOW);
  digitalWrite(c3, HIGH);

  if (digitalRead(r1)==0)  keynumber=4;
  if (digitalRead(r2)==0)  keynumber=5;
  if (digitalRead(r3)==0)  keynumber=6;
  if (digitalRead(r4)==0)  keynumber=7;

  digitalWrite(c1, HIGH);
  digitalWrite(c2, HIGH);
  digitalWrite(c3, LOW);

  if (digitalRead(r1)==0)  keynumber=8;
  if (digitalRead(r2)==0)  keynumber=9;
  if (digitalRead(r3)==0)  keynumber=10;
  if (digitalRead(r4)==0)  keynumber=11;
  
  if (keynumber!=oldkeynumber) keychange=1;
  else keychange=0;   
}


void setup()                    // run once, when the sketch starts
{
  pinMode(motor1, OUTPUT);      // sets the LED pin as output
  pinMode(motor2, OUTPUT);      // sets the LED pin as output
  pinMode(motor3, OUTPUT);      // sets the LED pin as output
  pinMode(motor4, OUTPUT);      // sets the LED pin as output

  pinMode(r1, INPUT);          //sets row 1 to input 
  digitalWrite(r1,HIGH);        //turns on pull up resistor
  pinMode(r2, INPUT);          //sets row 2 to input 
  digitalWrite(r2,HIGH);        //turns on pull up resistor
  pinMode(r3, INPUT);          //sets row 3 to input
  digitalWrite(r3,HIGH);        //turns on pull up resistor 
  pinMode(r4, INPUT);          //sets row 4 to input
  digitalWrite(r4,HIGH);        //turns on pull up resistor

  pinMode(c1, OUTPUT);          //sets col 1 to input (these will be pulled down to assert)
  pinMode(c2, OUTPUT);          //sets col 2 to input  
  pinMode(c3, OUTPUT);          //sets col 3 to input

  pinMode(ledPin, OUTPUT);      // sets the on-board led pin as output

  pinMode(plus, INPUT);          //sets plus button to input
  digitalWrite(plus,HIGH);       //turns on pull up resistor
  pinMode(minus, INPUT);         //sets minus button to input
  digitalWrite(minus,HIGH);      //turns on pull up resistor
}




void loop()  // run over and over again
{

  //*****CHANGE MODE****first check mode button 
  //when mode button is pressed, the led comes on and the program
  //waits until two number keys are pressed indicating the mode 
  //mode 0/0-3/3 tunes strings 1-4; mode 10/10 and 11/11 are load and save tunings 
   
  if (analogRead(modebutton)>500)
  {
    delay(250);  //bounce elimination
    keynumber=12; //impossible value
    norepeat=1; //for modes that should execute once per mode change
    digitalWrite(ledPin, HIGH);
    while (keynumber==12) keyboardread();  //wait for number key
    mode1=keynumber; //set new mode first digit
    delay(250);  //bounce elimination
    keynumber=12; //impossible value
    while (keynumber==12) keyboardread();  //wait for number key
    mode2=keynumber; //set new mode second digit
  }
 


  //****MODE 0/0-3/3=tune string, read the plus or minus buttons, updates last keynumber pressed
  if ((mode1==mode2)&&( (mode1==0)||(mode1==1)||(mode1==2)||(mode1==3) )) 
  {
     digitalWrite(ledPin, LOW);
     keyboardread();  //updates keynumber 
     if ((mode1==0)&&(mode2==0)) commandnumber1=keymap1[keynumber];  ///even if no +/- press will update string tension
     if ((mode1==1)&&(mode2==1)) commandnumber2=keymap2[keynumber];
     if ((mode1==2)&&(mode2==2)) commandnumber3=keymap3[keynumber];
     if ((mode1==3)&&(mode2==3)) commandnumber4=keymap4[keynumber];
    
    if (digitalRead(plus)==0 && digitalRead(minus)!=0) //press plus only  
    {
      delay(250);
      if ((mode1==0)&&(mode2==0))
      {
        keymap1[keynumber]=keymap1[keynumber]+5;
        if (keymap1[keynumber]>1015) keymap1[keynumber]=1015;  //check/fix overflow
        commandnumber1=keymap1[keynumber];    //play the new note
      }

      if ((mode1==1)&&(mode2==1))
      {
        keymap2[keynumber]=keymap2[keynumber]+5;
        if (keymap2[keynumber]>1015) keymap2[keynumber]=1015; 
        commandnumber2=keymap2[keynumber];    //play the new note 
      }

      if ((mode1==2)&&(mode2==2))
      {
        keymap3[keynumber]=keymap3[keynumber]+5;
        if (keymap3[keynumber]>1015) keymap3[keynumber]=1015; 
        commandnumber3=keymap3[keynumber]; 
      }

      if ((mode1==3)&&(mode2==3))
      {
        keymap4[keynumber]=keymap4[keynumber]+5;
        if (keymap4[keynumber]>1015) keymap4[keynumber]=1015; 
        commandnumber4=keymap4[keynumber]; 
      }
    }

    if (digitalRead(minus)==0 && digitalRead(plus)!=0)  //press minus only
    {
      delay(250);
      if ((mode1==0)&&(mode2==0))
      {
        keymap1[keynumber]=keymap1[keynumber]-5;
        if (keymap1[keynumber]<15) keymap1[keynumber]=15;
        commandnumber1=keymap1[keynumber];  
      }

      if ((mode1==1)&&(mode2==1))
      {
        keymap2[keynumber]=keymap2[keynumber]-5;
        if (keymap2[keynumber]<15) keymap2[keynumber]=15;
        commandnumber2=keymap2[keynumber];  
      }

      if ((mode1==2)&&(mode2==2))
      {
        keymap3[keynumber]=keymap3[keynumber]-5;
        if (keymap3[keynumber]<15) keymap3[keynumber]=15;
        commandnumber3=keymap3[keynumber];  
      }

      if ((mode1==3)&&(mode2==3))
      {
        keymap4[keynumber]=keymap4[keynumber]-5;
        if (keymap4[keynumber]<15) keymap4[keynumber]=15;
        commandnumber4=keymap4[keynumber];  
      }
    }

  } //end of modes 1, 2, 3, 4


  //****MODE 0/1****power chords
  if ((mode1==0)&&(mode2==1))
  {
    slidemode=0;
    digitalWrite(ledPin, LOW);
    keyboardread();
    
      
    if (keynumber==0)
    {
      commandnumber1=keymap1[10];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[5];
      commandnumber4=keymap4[4];  //A
    } 
    if (keynumber==1)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[7]; //Bm 
    }  
    if (keynumber==2)
    {
      commandnumber1=keymap1[6];
      commandnumber2=keymap2[10];
      commandnumber3=keymap3[8];
      commandnumber4=keymap4[5]; //C  
    }  
    if (keynumber==3)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[11];  //D   
    }  
    if (keynumber==4)
    {
      commandnumber1=keymap1[7];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[2];
      commandnumber4=keymap4[11];  //Dm   
    }  
    if (keynumber==5)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[3];
      commandnumber4=keymap4[0]; //Em 
    }  
    if (keynumber==6)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[2];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[9];  //F  
    }  
    if (keynumber==7)
    {
      commandnumber1=keymap1[7];
      commandnumber2=keymap2[6];
      commandnumber3=keymap3[9];
      commandnumber4=keymap4[6]; //G  
    }  
    if (keynumber==8)
    {
      commandnumber1=keymap1[9];
      commandnumber2=keymap2[8];
      commandnumber3=keymap3[11];
      commandnumber4=keymap4[8]; //Am  
    }  
    if (keynumber==9)
    {
      commandnumber1=keymap1[11];
      commandnumber2=keymap2[8];
      commandnumber3=keymap3[11];
      commandnumber4=keymap4[10];  //Am7
    }  
    if (keynumber==10)
    {
      commandnumber1=keymap1[9];
      commandnumber2=keymap2[6];
      commandnumber3=keymap3[9];
      commandnumber4=keymap4[8];  //A7
    }  
    if (keynumber==11)
    {
      commandnumber1=keymap1[11];
      commandnumber2=keymap2[10];
      commandnumber3=keymap3[6];
      commandnumber4=keymap4[5];  //Bb
    }  
  }
  
  //****MODE 0/2****major chords
  if ((mode1==0)&&(mode2==2))
  {
    slidemode=0;
    digitalWrite(ledPin, LOW);
    keyboardread();
    
      
    if (keynumber==0)
    {
      commandnumber1=keymap1[10];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[9];
      commandnumber4=keymap4[9];  //A
    } 
    if (keynumber==1)
    {
      commandnumber1=keymap1[0];
      commandnumber2=keymap2[10];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[11]; //Bm 
    }  
    if (keynumber==2)
    {
      commandnumber1=keymap1[1];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[8];
      commandnumber4=keymap4[7]; //C  
    }  
    if (keynumber==3)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[11];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[9];  //D   
    }  
    if (keynumber==4)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[10];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[9];  //Dm   
    }  
    if (keynumber==5)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[3];
      commandnumber4=keymap4[4]; //Em 
    }  
    if (keynumber==6)
    {
      commandnumber1=keymap1[6];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[5];
      commandnumber4=keymap4[5];  //F  
    }  
    if (keynumber==7)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[7]; //G  
    }  
    if (keynumber==8)
    {
      commandnumber1=keymap1[10];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[8];
      commandnumber4=keymap4[9]; //Am  
    }  
    if (keynumber==9)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[8];
      commandnumber4=keymap4[9];  //Am7
    }  
    if (keynumber==10)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[9];
      commandnumber4=keymap4[9];  //A7
    }  
    if (keynumber==11)
    {
      commandnumber1=keymap1[11];
      commandnumber2=keymap2[11];
      commandnumber3=keymap3[11];
      commandnumber4=keymap4[11];  //Bb
    }  
  }
  
//****MODE 0/3**** blues
  if ((mode1==0)&&(mode2==3))
  {
    slidemode=0;
    digitalWrite(ledPin, LOW);
    keyboardread();
    if (keynumber==0)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[4];  //A
    } 
    if (keynumber==1)
    {
      commandnumber1=keymap1[10];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[9];
      commandnumber4=keymap4[9]; //Bm 
    }  
    if (keynumber==2)
    {
      commandnumber1=keymap1[0];
      commandnumber2=keymap2[11];
      commandnumber3=keymap3[11];
      commandnumber4=keymap4[11]; //C  
    }  
    if (keynumber==3)
    {
      commandnumber1=keymap1[10];
      commandnumber2=keymap2[1];
      commandnumber3=keymap3[0];
      commandnumber4=keymap4[4];  //D   
    }  
    if (keynumber==4)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[9];
      commandnumber4=keymap4[9];  //Dm   
    }  
    if (keynumber==5)
    {
      commandnumber1=keymap1[1];
      commandnumber2=keymap2[2];
      commandnumber3=keymap3[2];
      commandnumber4=keymap4[2]; //Em 
    }  
    if (keynumber==6)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[4];  //F  
    }  
    if (keynumber==7)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[6];
      commandnumber3=keymap3[5];
      commandnumber4=keymap4[9]; //G  
    }  
    if (keynumber==8)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[7]; //Am  
    }  
    if (keynumber==9)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[4];  //Am7
    }  
    if (keynumber==10)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[2];
      commandnumber3=keymap3[2];
      commandnumber4=keymap4[2];  //A7
    }  
    if (keynumber==11)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[8];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[11];  //Bb
    }  
  }


//****MODE 0/4****universaal i VII VI etc
if ((mode1==0)&&(mode2==4))
  {
    digitalWrite(ledPin, LOW);
    slidemode=0;
    keyboardread();
    if (keynumber==0)
    {
      commandnumber1=keymap1[10];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[8];
      commandnumber4=keymap4[9];  //A
    } 
    if (keynumber==1)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[7]; //Bm 
    }  
    if (keynumber==2)
    {
      commandnumber1=keymap1[6];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[5];
      commandnumber4=keymap4[5]; //C  
    }  
    if (keynumber==3)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[6];
      commandnumber4=keymap4[7];  //D   
    }  
    if (keynumber==4)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[3];
      commandnumber4=keymap4[4];  //Dm   
    }  
    if (keynumber==5)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[2];
      commandnumber3=keymap3[2];
      commandnumber4=keymap4[2]; //Em 
    }  
    if (keynumber==6)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[4];  //F  
    }  
    if (keynumber==7)
    {
      commandnumber1=keymap1[6];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[5]; //G  
    }  
    if (keynumber==8)
    {
      commandnumber1=keymap1[0];
      commandnumber2=keymap2[11];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[11]; //Am  
    }  
    if (keynumber==9)
    {
      commandnumber1=keymap1[10];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[9];
      commandnumber4=keymap4[9];  //Am7
    }  
    if (keynumber==10)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[1];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[4];  //A7
    }  
    if (keynumber==11)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[5];
      commandnumber4=keymap4[5];  //Bb
    }  
  }


//****MODE 0/5****hey ya chords
  if ((mode1==0)&&(mode2==5))
  {
    slidemode=0;
    digitalWrite(ledPin, LOW);
    keyboardread();
    if (keynumber==0)
    {
      commandnumber1=keymap1[9];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[11];  //A
    } 
    if (keynumber==1)
    {
      commandnumber1=keymap1[10];
      commandnumber2=keymap2[6];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[11]; //Bm 
    }  
    if (keynumber==2)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[6]; //C  
    }  
    if (keynumber==3)
    {
      commandnumber1=keymap1[9];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[9];
      commandnumber4=keymap4[8];  //D   
    }  
    if (keynumber==4)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[8];  //Dm   
    }  
    if (keynumber==5)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[6];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[9]; //Em 
    }  
    if (keynumber==6)
    {
      commandnumber1=keymap1[7];
      commandnumber2=keymap2[11];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[4];  //F  
    }  
    if (keynumber==7)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[6];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[1]; //G  
    }  
    if (keynumber==8)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[4]; //Am  
    }  
    if (keynumber==9)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[6];
      commandnumber3=keymap3[5];
      commandnumber4=keymap4[11];  //Am7
    }  
    if (keynumber==10)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[11];
      commandnumber3=keymap3[2];
      commandnumber4=keymap4[6];  //A7
    }  
    if (keynumber==11)
    {
      commandnumber1=keymap1[2];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[8];  //Bb
    }  
  }


//****MODE 0/6****paid it all chords
  if ((mode1==0)&&(mode2==6))
  {
    slidemode=0;
    digitalWrite(ledPin, LOW);
    keyboardread();
    if (keynumber==0)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[7];  //A
    } 
    if (keynumber==1)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[2];
      commandnumber3=keymap3[2];
      commandnumber4=keymap4[2]; //Bm 
    }  
    if (keynumber==2)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[3];
      commandnumber4=keymap4[4]; //C  
    }  
    if (keynumber==3)
    {
      commandnumber1=keymap1[1];
      commandnumber2=keymap2[0];
      commandnumber3=keymap3[0];
      commandnumber4=keymap4[0];  //D   
    }  
    if (keynumber==4)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[11];  //Dm   
    }  
    if (keynumber==5)
    {
      commandnumber1=keymap1[7];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[9]; //Em 
    }  
    if (keynumber==6)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[7];  //F  
    }  
    if (keynumber==7)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[8];
      commandnumber4=keymap4[7]; //G  
    }  
    if (keynumber==8)
    {
      commandnumber1=keymap1[10];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[7]; //Am  
    }  
    if (keynumber==9)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[11];  //Am7
    }  
    if (keynumber==10)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[0];
      commandnumber3=keymap3[8];
      commandnumber4=keymap4[0];  //A7
    }  
    if (keynumber==11)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[5];
      commandnumber4=keymap4[7];  //Bb
    }  
  }
//****MODE 0/7****random
  if ((mode1==0)&&(mode2==7))
  {
    slidemode=0;
    digitalWrite(ledPin, LOW);
    keyboardread();
    if (keynumber==0)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[4];
      commandnumber4=keymap4[7];  //A
    } 
    if (keynumber==1)
    {
      commandnumber1=keymap1[7];
      commandnumber2=keymap2[9];
      commandnumber3=keymap3[6];
      commandnumber4=keymap4[6]; //Bm 
    }  
    if (keynumber==2)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[4];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[10]; //C  
    }  
    if (keynumber==3)
    {
      commandnumber1=keymap1[11];
      commandnumber2=keymap2[8];
      commandnumber3=keymap3[6];
      commandnumber4=keymap4[8];  //D   
    }  
    if (keynumber==4)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[8];
      commandnumber4=keymap4[11];  //Dm   
    }  
    if (keynumber==5)
    {
      commandnumber1=keymap1[7];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[9]; //Em 
    }  
    if (keynumber==6)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[7];  //F  
    }  
    if (keynumber==7)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[8];
      commandnumber4=keymap4[7]; //G  
    }  
    if (keynumber==8)
    {
      commandnumber1=keymap1[10];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[10];
      commandnumber4=keymap4[7]; //Am  
    }  
    if (keynumber==9)
    {
      commandnumber1=keymap1[8];
      commandnumber2=keymap2[7];
      commandnumber3=keymap3[7];
      commandnumber4=keymap4[11];  //Am7
    }  
    if (keynumber==10)
    {
      commandnumber1=keymap1[5];
      commandnumber2=keymap2[0];
      commandnumber3=keymap3[8];
      commandnumber4=keymap4[0];  //A7
    }  
    if (keynumber==11)
    {
      commandnumber1=keymap1[3];
      commandnumber2=keymap2[5];
      commandnumber3=keymap3[5];
      commandnumber4=keymap4[7];  //Bb
    }  
  }

//****MODE 10/10***load saved keymaps
  if ((mode1==10)&&(mode2==10) && norepeat==1)
  {
   norepeat=0;
   digitalWrite(ledPin, LOW);
   
    int temptest=0;
    int i;
    for (i = 0; i < 12; i = i + 1)  //loop through array in EEPROM 
      {
        lsbyte=EEPROM.read(i*2+48);
        msbyte=EEPROM.read(i*2+49);
       temptest=lsbyte+(256*msbyte);
       if (temptest!=keymap1[i])
      
      {
       digitalWrite(ledPin, LOW);
   delay(100);
   digitalWrite(ledPin, HIGH);
   delay (100);
      } 
        keymap1[i]=lsbyte+(256*msbyte);
        
        lsbyte=EEPROM.read(i*2+72);
        msbyte=EEPROM.read(i*2+73);
        keymap2[i]=lsbyte+(256*msbyte);
        
        lsbyte=EEPROM.read(i*2+96);
        msbyte=EEPROM.read(i*2+97);
        keymap3[i]=lsbyte+(256*msbyte);
        
        lsbyte=EEPROM.read(i*2+120);
        msbyte=EEPROM.read(i*2+121);
        keymap4[i]=lsbyte+(256*msbyte); 
      }
  
  }
  
  //****MODE 11/11***save keymaps
  if ((mode1==11)&&(mode2==11) && norepeat==1)
  {
   norepeat=0;
   digitalWrite(ledPin, LOW);
   delay(100);
   digitalWrite(ledPin, HIGH);
   delay (100);
   digitalWrite(ledPin, LOW); 
   delay(100); 
   digitalWrite(ledPin, HIGH);
   delay (100);
   digitalWrite(ledPin, LOW); 
   delay(100);
  
     int j;
      for (j = 0; j < 12; j = j + 1) 
      {
        lsbyte=keymap1[j] & 0x00FF;
        msbyte=keymap1[j]/256;
        EEPROM.write(j*2+48, lsbyte); 
        EEPROM.write(j*2+49, msbyte);
        
        lsbyte=keymap2[j] & 0x00FF;
        msbyte=keymap2[j]/256;
        EEPROM.write(j*2+72, lsbyte); 
        EEPROM.write(j*2+73, msbyte);
        
        lsbyte=keymap3[j] & 0x00FF;
        msbyte=keymap3[j]/256;
        EEPROM.write(j*2+96, lsbyte); 
        EEPROM.write(j*2+97, msbyte);
        
        lsbyte=keymap4[j] & 0x00FF;
        msbyte=keymap4[j]/256;
        EEPROM.write(j*2+120, lsbyte); 
        EEPROM.write(j*2+121, msbyte);
  
      } 
  }
  
  //****MODE 5/5****keyboard test
   if ((mode1==5)&&(mode2==5))
  {
    digitalWrite(ledPin, LOW);
    keyboardread();
    commandnumber1=keynumber*90; 
  }

  //*************************************************************************

  //*******************slide mode*********************************
  //is slide mode on
  
  if (slidemode==1)
  {
    if (keychange==1)
    {
      newcommand1=commandnumber1;  //figure out 1/40 distance between notes
      commandstep1=(newcommand1-oldcommand1)/40;
      rampcount1=0;
      rampdelay1=0;
      startpoint1=oldcommand1;
      oldcommand1=newcommand1;
      
      newcommand2=commandnumber2;  //figure out 1/40 distance between notes
      commandstep2=(newcommand2-oldcommand2)/40;
      rampcount2=0;
      rampdelay2=0;
      startpoint2=oldcommand2;
      oldcommand2=newcommand2;
      
      newcommand3=commandnumber3;  //figure out 1/40 distance between notes
      commandstep3=(newcommand3-oldcommand3)/40;
      rampcount3=0;
      rampdelay3=0;
      startpoint3=oldcommand3;
      oldcommand3=newcommand3;
      
      newcommand4=commandnumber4;  //figure out 1/40 distance between notes
      commandstep4=(newcommand4-oldcommand4)/40;
      rampcount4=0;
      rampdelay4=0;
      startpoint4=oldcommand4;
      oldcommand4=newcommand4;
    }
   //STRING1 
   commandnumber1=startpoint1+commandstep1*rampcount1; 
   
   if (rampcount1>40)
   {
     rampcount1=41;
     commandnumber1=newcommand1;
   }
    
    rampdelay1=rampdelay1+1;
    if (rampdelay1>delayconstant) //(about on second)
    {
      rampdelay1=0;
      rampcount1=rampcount1+1;
    }
  

//STRING2 
   commandnumber2=startpoint2+commandstep2*rampcount2; 
   
   if (rampcount2>40)
   {
     rampcount2=41;
     commandnumber2=newcommand2;
   }
    
    rampdelay2=rampdelay2+1;
    if (rampdelay2>delayconstant) //(about on second)
    {
      rampdelay2=0;
      rampcount2=rampcount2+1;
    }
  

  //STRING3 
   commandnumber3=startpoint3+commandstep3*rampcount3; 
   
   if (rampcount3>40)
   {
     rampcount3=41;
     commandnumber3=newcommand3;
   }
    
    rampdelay3=rampdelay3+1;
    if (rampdelay3>delayconstant) //(about on second)
    {
      rampdelay3=0;
      rampcount3=rampcount3+1;
    }
  

//STRING4 
   commandnumber4=startpoint4+commandstep4*rampcount4; 
   
   if (rampcount4>40)
   {
     rampcount4=41;
     commandnumber4=newcommand4;
   }
    
    rampdelay4=rampdelay4+1;
    if (rampdelay4>delayconstant) //(about on second)
    {
      rampdelay4=0;
      rampcount4=rampcount1+1;
    }
    
  }

  ///end of slide mode
  
  
  
  
  //*************************************************************************************
  //update servoloop for all modes

  //read pot values 
  feedback1=analogRead(sinput1); //get pot value
  feedback2=analogRead(sinput2);
  feedback3=analogRead(sinput3); 
  feedback4=analogRead(sinput4);

  // map the rawerror between commandnumber (0-1024) and feedback (0-1024) to (0-2048) (always positive)
  if (commandnumber1>=feedback1) rawerror1=commandnumber1-feedback1+1024;     
  if (commandnumber1<feedback1) rawerror1=1024-(feedback1-commandnumber1);     

  if (commandnumber2>=feedback2) rawerror2=commandnumber2-feedback2+1024;     
  if (commandnumber2<feedback2) rawerror2=1024-(feedback2-commandnumber2);   

  if (commandnumber3>=feedback3) rawerror3=commandnumber3-feedback3+1024;     
  if (commandnumber3<feedback3) rawerror3=1024-(feedback3-commandnumber3);   

  if (commandnumber4>=feedback4) rawerror4=commandnumber4-feedback4+1024;     
  if (commandnumber4<feedback4) rawerror4=1024-(feedback4-commandnumber4);  

  
  //******MINOR CORRECTIONS USING INTEGRATION TERM********************
  //check for keychange to reset integrator and integration zone limits
  
  if (keychange==1)
  {
    integratefactor1=0;   //reset error integration term one new key to stop windup
    integratefactor2=0;
    integratefactor3=0;
    integratefactor4=0;
  }
  
  // STRING 1
   if (((rawerror1-1024)>1)||((rawerror1-1024)<-1)) //deadzone to stop hunting
   {
     integratefactor1=integratefactor1+((rawerror1-1024)/250);
   }
      
   if (abs(feedback1-oldfeedback1)>0) //check for motion to reset integrator
   {
    integratefactor1=0;
    oldfeedback1=feedback1;
   } 
  
 
  // STRING 2
    if (((rawerror2-1024)>1)||((rawerror2-1024)<-1)) //deadzone to stop hunting
   {
     integratefactor2=integratefactor2+((rawerror2-1024)/250);
   }
      
   if (abs(feedback2-oldfeedback2)>0) //check for motion to reset integrator
   {
    integratefactor2=0;
    oldfeedback2=feedback2;
   } 
  
 // STRING 3
     if (((rawerror1-1024)>3)||((rawerror3-1024)<-1)) //deadzone to stop hunting
   {
     integratefactor3=integratefactor3+((rawerror3-1024)/250);
   }
      
   if (abs(feedback3-oldfeedback3)>0) //check for motion to reset integrator
   {
    integratefactor3=0;
    oldfeedback3=feedback3;
   } 
  
 // STRING 4
     if (((rawerror4-1024)>1)||((rawerror4-1024)<-1)) //deadzone to stop hunting
   {
     integratefactor4=integratefactor4+((rawerror4-1024)/250);
   }
      
   if (abs(feedback4-oldfeedback4)>0) //check for motion to reset integrator
   {
    integratefactor4=0;
    oldfeedback4=feedback4;
   } 
  
 
  //******************************************************************

  //disabled all integration

  motorout1=rawerror1/gainfactor1 +(int)integratefactor1;
  motorout2=rawerror2/gainfactor2 +(int)integratefactor2;
  motorout3=rawerror3/gainfactor3 +(int)integratefactor3;
  motorout4=rawerror4/gainfactor4 +(int)integratefactor4;

  //note: rawerror varies from 0 to 2048 (1024 is zero error) so gains less 
  //than 8 must have clipping for rawerror
  
  if (motorout1>255) motorout1=255;    //boost gain in software as you get close 
  if (motorout1<0) motorout1=0;  

  if (motorout2>255) motorout2=255;    //boost gain in software
  if (motorout2<0) motorout2=0;

  if (motorout3>255) motorout3=255;    //boost gain in software
  if (motorout3<0) motorout3=0;

  if (motorout4>255) motorout4=255;    //boost gain in software
  if (motorout4<0) motorout4=0;
  
  //overshoot control
  if ((motorout1>192)&&((rawerror1>1280)||(rawerror1<768))) motorout1=192;
  if ((motorout1<64)&&((rawerror1>1280)||(rawerror1<768))) motorout1=64;
  
  if ((motorout2>192)&&((rawerror2>1280)||(rawerror2<768))) motorout2=192;
  if ((motorout2<64)&&((rawerror2>1280)||(rawerror2<768))) motorout2=64;
  
  if ((motorout3>192)&&((rawerror3>1280)||(rawerror3<768))) motorout3=192;
  if ((motorout3<64)&&((rawerror3>1280)||(rawerror3<768))) motorout3=64;
  
  if ((motorout4>192)&&((rawerror4>1280)||(rawerror4<768))) motorout4=192;
  if ((motorout4<64)&&((rawerror4>1280)||(rawerror4<768))) motorout4=64;
  
  
  
  
  

  analogWrite(motor1,motorout1);  //analog input is 1024 max
  analogWrite(motor2,motorout2);  //analog input is 1024 max
  analogWrite(motor3,motorout3);  //analog input is 1024 max
  analogWrite(motor4,motorout4);  //analog input is 1024 max
  
  keychange=0;
  oldkeynumber=keynumber;


} //end of loop