ESP32 Project Ideas (copy) (copy)

#include <Arduino.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <Adafruit_NeoPixel.h>
#include <math.h>
#include <EEPROM.h>
#include <stddef.h>
#include <hardware/pwm.h>
#include <hardware/clocks.h>
Adafruit_SSD1306 screen(128,64,&Wire1,-1);
Adafruit_NeoPixel matrix(25,7,NEO_GRB+NEO_KHZ800);
struct Button {
 int pin;
 bool raw=false,down=false,pressed=false;
 uint32_t at=0;
 void begin(){pinMode(pin,INPUT_PULLUP);}
 void tick(uint32_t t){
  pressed=false;
  bool v=digitalRead(pin)==LOW;
  if(v!=raw){raw=v;at=t;}
  if(t-at>=25&&down!=raw){down=raw;pressed=down;}
 }
};
// Debounce each physical switch independently, then merge into action A.
Button physicalA{5},stickClick{22},a{5},b{6};
#include "campaign.h"
#include "expedition.h"
#include "contracts.h"
#include "crew.h"
#include "frontier.h"
#include "openworld.h"
enum Mode{BASE,FLIGHT,PANEL,LOST,LESSON,JOURNAL,STORY,ENCOUNTER,CONTRACT,REPORT,BRIEF,WORLDMAP,WORLDPORT,ECHOSIGNAL,ACTIVITY,SETTINGS,DOCKREPORT};Mode mode=BASE;
Mode settingsReturn=BASE;
int settingRow=0,volumeLevel=2,lightLevel=5;
bool settingsChanged=false;
void openSettings(Mode back){settingsReturn=back;settingRow=0;settingsChanged=false;mode=SETTINGS;}
int lesson=0; bool training=false; float moved=0; bool actionPending=false;
float x=50,y=150,vx=0,vy=0,fuel=100,shield=100,hull=100;
int cx=2048,cy=2048,selection=0,mission=0,credits=0,completed=0,level=0;
bool contractWon=false;
bool cargo=false,soundOn=true,oled=false,dirty=true;
uint32_t frameAt=0,navAt=0,hitAt=0,noteUntil=0,msgUntil=0;
void tickButtons(uint32_t now){
 physicalA.tick(now);stickClick.tick(now);b.tick(now);
 bool wasDown=a.down;
 a.raw=physicalA.raw||stickClick.raw;
 a.down=physicalA.down||stickClick.down;
 a.pressed=a.down&&!wasDown;
 // Clicking can slightly tilt the stick: do not navigate during confirmation.
 if(stickClick.raw||stickClick.down)navAt=now;
}
const char* message="";
const char* missions[]={"Entrega","Exploracao","Resgate"};
float tx[]={330,280,350},ty[]={65,240,175};
int routeStep=0; bool rescueFixed=false;
bool variedMission(){return !training&&!campaignFlight;}
void routeTarget(){
 if(!variedMission()||mission==2)return;
 const int paths[2][3][2]={{{170,80},{330,180},{330,180}},{{150,235},{245,70},{345,225}}};
 int i=mission==0?min(routeStep,1):min(routeStep,2);
 tx[mission]=paths[mission][i][0];ty[mission]=paths[mission][i][1];
}

int xp=0,rankLevel=1,sector=0,engineLevel=0,tankLevel=0;
int deliveries=0,scans=0,rescues=0;
const char* sectors[]={"Orbita Aurora","Cintura de Io","Nebulosa Lira"};
const char* ranks[]={"Cadete","Piloto","Explorador","Comandante","Capitao"};
int menuPage=0;
int homeSector=0;
int menuCount(){return menuPage==0?4:menuPage==1?7:5;}
bool saveOK=true;
bool storageReady=false;
uint8_t checkpoint[256];
void rememberCheckpoint(){for(int i=0;i<256;i++)checkpoint[i]=EEPROM.read(i);}
void loadGame();
void restoreCheckpoint(){
 chapterCargo=false;
 credits=xp=completed=level=engineLevel=tankLevel=sector=deliveries=scans=rescues=0;
 rankLevel=1;soundOn=true;volumeLevel=2;lightLevel=5;storyChapter=storyChoices=0;
 discoveries=medals=echoBits=0;visitedSites=1;salvaged=worldJob=dockSite=worldClock=0;convoyHelped=false;
 for(int i=0;i<3;i++){crewFlights[i]=0;sectorAid[i]=0;}
 for(int i=0;i<256;i++)EEPROM.write(i,checkpoint[i]);loadGame();
}
extern int tune;
// Versioned checkpoint: progress only, never transient flight state.
struct SaveData {uint32_t magic,version; int32_t cr,xp,done,esc,engine,tank,sector,ent,exp,res,sound; uint32_t checksum;};
uint32_t checksum(const SaveData& d){const uint8_t* b=(const uint8_t*)&d;uint32_t h=2166136261u;for(size_t i=0;i<offsetof(SaveData,checksum);i++)h=(h^b[i])*16777619u;return h;}
// Settings occupy unused bytes 64..75; existing progress records are unchanged.
void storeSettings(){uint32_t v=volumeLevel|(lightLevel<<8),check=v^0x41564C31u;EEPROM.put(64,uint32_t(0x41564C31u));EEPROM.put(68,v);EEPROM.put(72,check);}
void loadSettings(){uint32_t magic,v,check;EEPROM.get(64,magic);EEPROM.get(68,v);EEPROM.get(72,check);if(magic==0x41564C31u&&check==(v^magic)&&(v&255)<=5&&(v>>8)<=5){volumeLevel=v&255;lightLevel=v>>8;}}
void saveGame(){
 SaveData d={0x4F524254,1,credits,xp,completed,level,engineLevel,tankLevel,(campaignFlight||openFlight)?homeSector:sector,deliveries,scans,rescues,soundOn?1:0,0};d.checksum=checksum(d);
 noTone(21);digitalWrite(21,LOW);noteUntil=0;tune=-1;
 storeSettings();EEPROM.put(0,d);storeStory();storeDiscoveries();storeMedals();storeCrew();storeFrontier();storeWorld();storeEcho();bool changed=false;for(int i=0;i<256;i++)if(EEPROM.read(i)!=checkpoint[i]){changed=true;break;}saveOK=!changed||EEPROM.commit();if(saveOK)rememberCheckpoint();Serial.println(saveOK?"Progresso salvo":"Falha ao salvar");
}
void loadGame(){if(!storageReady){EEPROM.begin(256);storageReady=true;rememberCheckpoint();}SaveData d;EEPROM.get(0,d);loadSettings();loadStory();loadDiscoveries();loadMedals();loadCrew();loadFrontier();loadWorld();loadEcho();
 if(d.magic!=0x4F524254||d.version!=1||d.checksum!=checksum(d))return;
 if(d.cr<0||d.xp<0||d.done<0||d.esc<0||d.esc>3||d.engine<0||d.engine>3||d.tank<0||d.tank>3||d.sector<0||d.sector>2||d.ent<0||d.exp<0||d.res<0||d.sound<0||d.sound>1)return;
 credits=d.cr;xp=d.xp;completed=d.done;level=d.esc;engineLevel=d.engine;tankLevel=d.tank;sector=d.sector;deliveries=d.ent;scans=d.exp;rescues=d.res;soundOn=d.sound;
 rankLevel=1;while(rankLevel<5&&xp>=rankLevel*60)rankLevel++;

}

const char* targetAction(){if(variedMission()&&mission==2)return rescueFixed?"A: REBOCAR":"SEGURE A: REPARAR";return mission==0?"A: ENTREGAR":mission==1?"SEGURE A: ESCANEAR":"A: RESGATAR";}
void locateTargets(){
 const float px[3][3]={{330,280,350},{290,350,220},{360,240,320}};
 const float py[3][3]={{65,240,175},{250,90,50},{240,45,110}};
 for(int i=0;i<3;i++){tx[i]=px[sector][i];ty[i]=py[sector][i];}
}
void reward(){
 int gain=20+mission*10+sector*15+(frontierStage(sector)==2?8:0);credits+=gain;xp+=15+mission*5+sector*10;completed++;
 if(crewFlights[mission]<100000)crewFlights[mission]++;
 if(mission==0)deliveries++;else if(mission==1)scans++;else rescues++;
 contractWon=false;if(special){bool success=contract==0?flightHits==0:contract==1?fuel>=85:flightTicks<=3000;contractWon=success;if(success){bool first=!(medals&(1u<<contract));medals|=1u<<contract;bonus+=40+(first?20:0);xp+=20;}}
 credits+=bonus+(mission==0?integrity/10:0);discoveries|=pendingDiscoveries;
 rankLevel=1;while(rankLevel<5&&xp>=rankLevel*60)rankLevel++;
}

const int rocks[][2]={{125,95},{150,190},{200,140},{230,65},{250,210},{310,120},{100,240},{180,265}};
// Non-blocking melodies: flight and buttons stay responsive.
const int notes[][8]={{660,880,0,0,0,0,0,0},{440,660,880,1100,0,0,0,0},{880,1100,1320,0,0,0,0,0},{660,880,1100,1320,1100,1568,0,0},{180,120,80,0,0,0,0,0}};
float speed();
int tune=-1,noteIndex=0; uint32_t nextNote=0,motorAt=0; bool thrust=false;
void beep(int f,int ms){if(soundOn&&volumeLevel>0&&f>0){
 // Dedicated slice for GPIO21: duty controls loudness without changing RGB PWM.
 pwm_config c=pwm_get_default_config();
 pwm_config_set_clkdiv(&c,float(clock_get_hz(clk_sys))/(4096.0f*f));
 pwm_config_set_wrap(&c,4095);pwm_init(pwm_gpio_to_slice_num(21),&c,true);
 const uint16_t duty[]={0,24,64,160,400,2048};
 gpio_set_function(21,GPIO_FUNC_PWM);pwm_set_gpio_level(21,duty[volumeLevel]);
 noteUntil=millis()+ms;
}}
void music(int id){if(!soundOn)return;tune=id;noteIndex=0;nextNote=millis();}
void audioTick(uint32_t now){
 if(noteUntil&&int32_t(now-noteUntil)>=0){noTone(21);digitalWrite(21,LOW);noteUntil=0;}
 if(tune>=0&&int32_t(now-nextNote)>=0){int n=notes[tune][noteIndex++];if(!n||noteIndex>=8){tune=-1;}else{beep(n,85);nextNote=now+115;}}
 if(soundOn&&tune<0&&!noteUntil&&mode==FLIGHT&&thrust&&now-motorAt>1100){motorAt=now;beep(110,16);}
}
void say(const char* s){message=s;msgUntil=millis()+2200;dirty=true;}
float dist(float ax,float ay,float bx,float by){return hypotf(ax-bx,ay-by);}
float speed(){return hypotf(vx,vy);}
float axis(int pin,int center){float n=(analogRead(pin)-center)/1800.0f;return fabsf(n)<0.18f?0:constrain(n,-1.0f,1.0f);}
void resetShip(){x=50;y=150;vx=vy=0;fuel=100+tankLevel*25;shield=hull=100;cargo=false;}
void launch(){openFlight=false;routeStep=0;rescueFixed=false;flightTicks=0;flightHits=0;locateTargets();resetShip();bonus=0;scanTicks=0;integrity=100;pendingDiscoveries=0;encounterDone=false;encounterKind=random(3);signalX=140+random(45);signalY=110+random(80);mode=FLIGHT;training=false;routeTarget();say(mission==0?"Carga: evite impactos":mission==1?"No alvo: segure A":"Resgate e escolte");music(1);}
// Fixed 6x8 font: never wrap into another UI region.
void text(int x,int y,const char* s){screen.setCursor(x,y);int n=max(0,(128-x)/6);while(*s&&*s!='\n'&&n-->0)screen.write(*s++);}
void prose(int x,int y,int width,int lines,const char* s){
 int cap=constrain(width/6,1,21);for(int row=0;row<lines&&*s;row++){
 char buf[22];int n=0;while(s[n]&&s[n]!='\n'&&n<cap)n++;
 if(n==cap&&s[n]&&s[n]!='\n'){int k=n;while(k>0&&s[k]!=' ')k--;if(k>0)n=k;}
 memcpy(buf,s,n);buf[n]=0;text(x,y+row*8,buf);s+=n;if(*s=='\n'||*s==' ')s++;
 }
}
int radarIndex(int col,int row){
 // Rotate logical radar coordinates 180 degrees for the board's viewing orientation.
 col=4-col;row=4-row;
 return row*5+((row&1)?4-col:col);
}
void radar(){matrix.clear();if(openFlight&&(mode==FLIGHT||mode==PANEL||mode==WORLDMAP)){
 for(auto &r:rocks){int c=lroundf((r[0]-x)/65)+2,rr=lroundf((r[1]-y)/65)+2;if(c>=0&&c<5&&rr>=0&&rr<5)matrix.setPixelColor(radarIndex(c,rr),matrix.Color(18,0,0));}
 for(int i=0;i<3;i++){int c=constrain(int(lroundf((siteX[i]-x)/65))+2,0,4),r=constrain(int(lroundf((siteY[i]-y)/65))+2,0,4);matrix.setPixelColor(radarIndex(c,r),i==worldFocus?matrix.Color(0,14,0):matrix.Color(0,0,12));}
 int en=echoNext();if(en>=0){int ec=constrain(int(lroundf((echoX[en]-x)/65))+2,0,4),er=constrain(int(lroundf((echoY[en]-y)/65))+2,0,4);matrix.setPixelColor(radarIndex(ec,er),matrix.Color(12,0,16));}
 int c=lroundf((convoyX-x)/65)+2,r=lroundf((convoyY-y)/65)+2;if(c>=0&&c<5&&r>=0&&r<5)matrix.setPixelColor(radarIndex(c,r),matrix.Color(14,8,0));int tc=constrain(int(lroundf((focusX()-x)/65))+2,0,4),tr=constrain(int(lroundf((focusY()-y)/65))+2,0,4);matrix.setPixelColor(radarIndex(tc,tr),matrix.Color(0,14,0));matrix.setPixelColor(12,matrix.Color(12,12,12));
 }else if(mode==FLIGHT||mode==PANEL){
 // Same 65-world-unit cells for rocks, target and station. Do not clamp distant rocks to edges.
 for(auto &r:rocks){int c=int(lroundf((r[0]-x)/65))+2,rr=int(lroundf((r[1]-y)/65))+2;if(c>=0&&c<5&&rr>=0&&rr<5)matrix.setPixelColor(radarIndex(c,rr),matrix.Color(18,0,0));}
 if(!training&&!encounterDone){int c=int(lroundf((signalX-x)/65))+2,r=int(lroundf((signalY-y)/65))+2;if(c>=0&&c<5&&r>=0&&r<5)matrix.setPixelColor(radarIndex(c,r),matrix.Color(14,8,0));}
 int col=constrain(int(lroundf((tx[mission]-x)/65))+2,0,4),row=constrain(int(lroundf((ty[mission]-y)/65))+2,0,4);
 if(!cargo)matrix.setPixelColor(radarIndex(col,row),matrix.Color(0,12,0));
 col=constrain(int(lroundf((50-x)/65))+2,0,4);row=constrain(int(lroundf((150-y)/65))+2,0,4);matrix.setPixelColor(radarIndex(col,row),matrix.Color(0,0,12));matrix.setPixelColor(12,matrix.Color(12,12,12));}
 if(mode==SETTINGS){matrix.clear();for(int i=0;i<25;i++)matrix.setPixelColor(i,matrix.Color(i%3==0?18:0,i%3==1?18:0,i%3==2?18:0));}
 // Scale fresh frame colors; never rescale an already dimmed buffer.
 for(int i=0;i<25;i++){uint32_t c=matrix.getPixelColor(i);matrix.setPixelColor(i,((c>>16)&255)*lightLevel/5,((c>>8)&255)*lightLevel/5,(c&255)*lightLevel/5);}
 matrix.show();analogWrite(13,hull<35?40:0);analogWrite(11,hull>=35?18:0);analogWrite(12,mode==BASE?24:0);}
#include "visuals.h"
#include "openworld_ui.h"
void draw(){if(!oled)return;screen.clearDisplay();screen.setTextWrap(false);screen.setTextSize(1);screen.setTextColor(SSD1306_WHITE);
 if(mode==SETTINGS){
 uiHeader("AJUSTES / CONFORTO");
 const char* labels[]={"Volume","Brilho matriz","Salvar e voltar"};
 for(int i=0;i<3;i++){int yy=14+i*13;if(settingRow==i){screen.fillRoundRect(0,yy,128,11,2,1);screen.setTextColor(0);}text(3,yy+2,labels[i]);if(i<2){screen.setCursor(99,yy+2);screen.print((i==0?volumeLevel:lightLevel)*20);screen.print("%");}screen.setTextColor(1);}
 uiFooter(saveOK?"B: item A: + / sair":"ERRO SAVE: A repete");
 }
 else if(mode==ACTIVITY)uiActivity();
 else if(mode==ECHOSIGNAL)uiEcho();
 else if(mode==WORLDMAP)uiWorldMap();
 else if(mode==WORLDPORT)uiWorldPort();
 else if(mode==FLIGHT&&openFlight)uiWorldFlight();
 else if(mode==LESSON)uiLesson();
 else if(mode==STORY)uiStory();
 else if(mode==ENCOUNTER)uiEncounter();
 else if(mode==CONTRACT)uiContract();
 else if(mode==BRIEF)uiBrief();
 else if(mode==DOCKREPORT)uiDockReport();
 else if(mode==REPORT)uiReport();
 else if(mode==BASE)uiBase();
 else if(mode==JOURNAL)uiJournal();
 else if(mode==LOST)uiLost();
 else if(mode==PANEL)uiPanel();
 else { // World scrolls around the ship; HUD occupies the top and bottom rows.
  for(int i=0;i<30;i++){int sx=(i*73+17)%400-int(x)+64,sy=(i*47+11)%300-int(y)+34;if(sx>=0&&sx<128&&sy>9&&sy<55)screen.drawPixel(sx,sy,1);}
  // Sector-specific world details, never an overlay following the player.
  if(sector==1){for(int i=0;i<18;i++){int sx=90+i*14-int(x)+64,sy=40+(i*37)%225-int(y)+34;if(sx>0&&sx<128&&sy>13&&sy<51)screen.drawRect(sx,sy,2+(i%3),2,1);}}
  if(sector==2){for(int i=0;i<12;i++){int sx=70+(i*31)%300-int(x)+64,sy=30+(i*19)%240-int(y)+34;if(sx>3&&sx<125&&sy>14&&sy<50){screen.drawLine(sx-2,sy,sx+2,sy,1);screen.drawPixel(sx,sy-2,1);}}}
  // Fixed scenery in world coordinates, not a ship-following parallax overlay.
  int planetX=365-int(x)+64,planetY=35-int(y)+34;
  if(planetX>=-16&&planetX<144&&planetY>=-16&&planetY<80){
   screen.drawCircle(planetX,planetY,12,1);screen.drawCircle(planetX+4,planetY-2,4,1);screen.drawLine(planetX-16,planetY+5,planetX+16,planetY-3,1);
   for(int py=-9;py<=9;py+=3)for(int px=-10;px<0;px+=3)if(px*px+py*py<125)screen.drawPixel(planetX+px,planetY+py,1);
  }
  auto point=[&](float wx,float wy,int kind){int sx=int(wx-x)+64,sy=int(wy-y)+34;if(sx< -6||sx>133||sy<14||sy>49)return;if(kind==0){screen.drawRoundRect(sx-4,sy-5,9,11,2,1);screen.drawRect(sx-12,sy-4,6,9,1);screen.drawRect(sx+7,sy-4,6,9,1);screen.drawLine(sx-7,sy,sx+7,sy,1);screen.drawPixel(sx,sy-2,1);}else if(kind==1){screen.drawLine(sx-4,sy-2,sx-1,sy-5,1);screen.drawLine(sx-1,sy-5,sx+4,sy-2,1);screen.drawLine(sx+4,sy-2,sx+3,sy+4,1);screen.drawLine(sx+3,sy+4,sx-3,sy+3,1);screen.drawLine(sx-3,sy+3,sx-4,sy-2,1);screen.drawPixel(sx-1,sy-1,1);screen.drawLine(sx+1,sy+1,sx+3,sy+1,1);}else{if(mission==0){screen.drawRect(sx-6,sy-5,13,11,1);screen.drawLine(sx-6,sy-5,sx+6,sy+5,1);screen.drawLine(sx+6,sy-5,sx-6,sy+5,1);}else if(mission==1){screen.drawCircle(sx,sy,7,1);screen.drawCircle(sx,sy,3,1);screen.drawFastHLine(sx-10,sy,4,1);screen.drawFastHLine(sx+7,sy,4,1);}else{screen.drawRoundRect(sx-6,sy-3,13,7,2,1);screen.drawLine(sx,sy-6,sx,sy+6,1);screen.drawPixel(sx-9,sy,1);screen.drawPixel(sx+9,sy,1);}}};
  if(!training&&!encounterDone){int sx=int(signalX-x)+64,sy=int(signalY-y)+34;if(sx>5&&sx<122&&sy>17&&sy<48){int pulse=(millis()/350)%2;screen.drawCircle(sx,sy,4+pulse*2,1);text(sx-2,sy-3,"?");}}
  if(!training&&cargo&&mission==2){screen.drawRoundRect(48,39,7,5,1,1);screen.drawLine(53,40,60,36,1);}
  for(auto &r:rocks)point(r[0],r[1],1);point(50,150,0);if(!cargo)point(tx[mission],ty[mission],2);
  // Rotate the spacecraft toward its movement, with animated exhaust.
  float angle=speed()>0.04f?atan2f(vy,vx):-1.5708f;
  float ux=cosf(angle),uy=sinf(angle);
  int noseX=64+int(ux*7),noseY=34+int(uy*7);
  int leftX=64-int(ux*4+uy*5),leftY=34-int(uy*4-ux*5);
  int rightX=64-int(ux*4-uy*5),rightY=34-int(uy*4+ux*5);
  screen.fillTriangle(noseX,noseY,leftX,leftY,rightX,rightY,1);
  screen.drawLine(64-int(ux*2+uy*2),34-int(uy*2-ux*2),noseX-int(ux*2),noseY-int(uy*2),0);
  // Engine nacelles and shield impact ring do not change the collision radius.
  screen.drawCircle(leftX,leftY,1,1);screen.drawCircle(rightX,rightY,1,1);
  if(hitAt && millis()-hitAt<450)screen.drawCircle(64,34,10,1);
  if(thrust){int tail=8+(millis()/100)%3;screen.drawLine(64-int(ux*5),34-int(uy*5),64-int(ux*tail),34-int(uy*tail),1);}
  screen.drawFastHLine(0,10,128,1);screen.drawFastHLine(0,53,128,1);
  screen.fillRect(0,0,128,9,0);screen.setCursor(0,0);if(training&&lesson==1)screen.print("1/4 Mova o joystick");
  else if(training)screen.print(cargo?"4/4 Volte para BASE":"3/4 Va ate o ALVO");
  else {for(int i=0;i<3;i++){int xx=i*43;float val=i==0?fuel:i==1?shield:hull;text(xx,0,i==0?"F":i==1?"E":"C");screen.setCursor(xx+7,0);screen.print(int(val));uiBar(xx+26,0,16,8,val,i==0?100+tankLevel*25:100);}}
  float gx=cargo?50:tx[mission],gy=cargo?150:ty[mission];
  float dx=gx-x,dy=gy-y,dd=hypotf(dx,dy);
  if(dd>24){float ux=dx/dd,uy=dy/dd;int ex=64+int(ux*20),ey=34+int(uy*17);screen.drawLine(64,34,ex,ey,1);screen.drawLine(ex,ey,ex-int(ux*5-uy*3),ey-int(uy*5+ux*3),1);screen.drawLine(ex,ey,ex-int(ux*5+uy*3),ey-int(uy*5-ux*3),1);}
  if(dd<24){int bx=64+int(dx),by=34+int(dy);if(by>19&&by<46&&bx>8&&bx<120){for(int side=-1;side<=1;side+=2){screen.drawLine(bx+side*9,by-7,bx+side*5,by-7,1);screen.drawLine(bx+side*9,by-7,bx+side*9,by-3,1);screen.drawLine(bx+side*9,by+7,bx+side*5,by+7,1);}}}
  if(!training&&!cargo&&scanTicks>0&&(mission==1||(variedMission()&&mission==2&&!rescueFixed)))uiBar(38,46,52,6,scanTicks,mission==1?scanRequired():40);
  screen.fillRect(0,55,128,9,0);screen.setCursor(0,56);if(training&&lesson==1)screen.print("Mova ate completar");
  else if(!training&&!encounterDone&&dist(x,y,signalX,signalY)<22)screen.print("A: INVESTIGAR SINAL");
  else if(dd<24){if(!training&&!cargo&&(mission==1||(variedMission()&&mission==2&&!rescueFixed))){screen.print(mission==1?"LEITURA ":"REPARO ");screen.print(scanTicks*100/(mission==1?scanRequired():40));screen.print("% segure A");}else screen.print(cargo?"APERTE A: ATRACAR":targetAction());}
  else {if(!cargo&&variedMission()){screen.print(mission==0?"ENT ":mission==1?"SCAN ":"SOS ");if(mission<2){screen.print(routeStep+1);screen.print(mission==0?"/2 ":"/3 ");}}else screen.print(cargo?"BASE ":"ALVO ");screen.print(int(dd));screen.print(" >");}
 }
 if(millis()<msgUntil&&mode==BASE){screen.fillRect(0,54,128,10,0);screen.drawFastHLine(0,54,128,1);text(1,56,message);}
 if(millis()<msgUntil&&mode==FLIGHT){screen.fillRoundRect(0,21,128,23,3,0);screen.drawRoundRect(0,21,128,23,3,1);char line[21];size_t len=strlen(message);size_t cut=min(size_t(20),len);if(len>20){for(size_t i=cut;i>0;i--)if(message[i]==' '){cut=i;break;}}memcpy(line,message,cut);line[cut]=0;text(4,len>20?24:29,line);if(len>20){size_t next=cut+(message[cut]==' '?1:0);strncpy(line,message+next,20);line[20]=0;text(4,34,line);}}screen.display();}
void setup(){Serial.begin(115200);physicalA.begin();stickClick.begin();b.begin();pinMode(21,OUTPUT);digitalWrite(21,LOW);for(int p:{13,11,12}){pinMode(p,OUTPUT);digitalWrite(p,LOW);}analogWriteResolution(8);analogReadResolution(12);loadGame();matrix.begin();matrix.clear();matrix.show();Wire1.setSDA(14);Wire1.setSCL(15);Wire1.begin();Wire1.beginTransmission(0x3C);if(Wire1.endTransmission()==0)oled=screen.begin(SSD1306_SWITCHCAPVCC,0x3C,false,false);
 long sx=0,sy=0;for(int i=0;i<32;i++){sx+=analogRead(26);sy+=analogRead(27);delay(3);}cx=sx/32;cy=sy/32;randomSeed(micros());Serial.println(oled?"Simulador pronto":"OLED nao encontrado");radar();draw();music(0);}
void loop(){static Mode previousMode=BASE;static bool inputGuard=false;Mode inputMode=mode;uint32_t now=millis();tickButtons(now);if(inputGuard){a.pressed=b.pressed=false;if(!a.down&&!b.down&&!a.raw&&!b.raw)inputGuard=false;}audioTick(now);if(a.pressed||b.pressed)beep(700,35);if(msgUntil&&int32_t(now-msgUntil)>=0){msgUntil=0;dirty=true;}
 if(mode==SETTINGS){
 if(b.pressed){settingRow=(settingRow+1)%3;dirty=true;}
 float j=axis(27,cy);
 bool step=fabsf(j)>0.4f&&now-navAt>230;
 if(settingRow<2&&(a.pressed||step)){
 int &v=settingRow==0?volumeLevel:lightLevel;
 v=a.pressed?(v+1)%6:constrain(v+(j>0?1:-1),0,5);navAt=now;
 if(settingRow==0){soundOn=volumeLevel>0;tune=-1;noTone(21);digitalWrite(21,LOW);noteUntil=0;beep(440,100);}
 settingsChanged=true;dirty=true;
 }else if(settingRow==2&&a.pressed){if(settingsChanged)saveGame();if(saveOK){mode=settingsReturn;settingsChanged=false;}dirty=true;}
 }
 else if(mode==ACTIVITY){bool next=b.pressed;if(activityPage==10){float j=axis(27,cy);if(fabsf(j)<.3f)j=-axis(26,cx);if(fabsf(j)>.4f&&now-navAt>280){localOffer=(localOffer+(j>0?1:3))%4;navAt=now;dirty=true;}}tickActivity(a.pressed,next);if(a.pressed||next)dirty=true;}
 else if(mode==ECHOSIGNAL){tickEcho(a.pressed,b.pressed);dirty=true;}
 else if(mode==WORLDMAP){
 if(!focusAvailable(worldFocus)||(worldFocus==9&&storyChapter!=1))moveWorldFocus(1);
 float j=axis(27,cy);if(fabsf(j)<.3f)j=-axis(26,cx);
 static int heldDir=0;static uint32_t repeatAt=0;int dir=!(stickClick.raw||stickClick.down)&&fabsf(j)>.4f?(j>0?1:-1):0;bool navStep=dir&&(dir!=heldDir||int32_t(now-repeatAt)>=0);if(navStep){repeatAt=now+(dir!=heldDir?380:170);}heldDir=dir;
 if(b.pressed||navStep){moveWorldFocus(b.pressed||j>0?1:-1);navAt=now;dirty=true;}
 if(a.pressed){activityPage=8;mode=ACTIVITY;dirty=true;}}

 else if(mode==WORLDPORT){float j=axis(27,cy);if(fabsf(j)<.3f)j=-axis(26,cx);if(b.pressed||(fabsf(j)>.4f&&now-navAt>280)){portChoice=(portChoice+(b.pressed||j>0?1:3))%4;navAt=now;dirty=true;}if(a.pressed){worldPortAction();dirty=true;}}
 else if(mode==LESSON){if(a.pressed){if(lesson==0){resetShip();mission=0;locateTargets();training=true;lesson=1;moved=0;mode=FLIGHT;}else if(lesson==2){resetShip();lesson=3;mode=FLIGHT;}else if(lesson==5){training=false;mode=BASE;}dirty=true;}}
 else if(mode==STORY){
 if(storyStep==0){if(b.pressed){mode=BASE;dirty=true;}else if(a.pressed){storyStep=1;storyOption=0;dirty=true;}}
 else if(storyStep==1){if(b.pressed){storyOption=1-storyOption;dirty=true;}if(a.pressed){
 storyChoices=(storyChoices&~(1<<storyShown))|(storyOption<<storyShown);
 special=false;homeSector=sector;mission=chapters[storyShown].job;campaignFlight=true;launch();sector=chapters[storyShown].region;locateTargets();say("Siga a seta ao ALVO");dirty=true;
 }}else if(a.pressed||b.pressed){mode=BASE;menuPage=0;selection=0;dirty=true;}
 }
 else if(mode==ENCOUNTER){if(b.pressed){encounterChoice=1-encounterChoice;dirty=true;}if(a.pressed){
 if(encounterKind==0){if(encounterChoice==0)bonus+=20;else hull=fminf(100,hull+30);}
 else if(encounterKind==1){if(encounterChoice==0&&fuel>=10){fuel-=10;bonus+=30;}else if(encounterChoice==0){say("Combustivel insuf.");}}
 else {if(encounterChoice==0){pendingDiscoveries|=1u<<sector;bonus+=10;say(relics[sector]);}else{shield=fmaxf(0,shield-15);bonus+=35;}}
 encounterDone=true;mode=FLIGHT;music(2);dirty=true;
 }}
 else if(mode==CONTRACT){if(b.pressed){special=!special;dirty=true;}if(a.pressed){mode=BRIEF;msgUntil=0;dirty=true;}}
 else if(mode==BRIEF){if(b.pressed){mode=CONTRACT;dirty=true;}else if(a.pressed){launch();say("Objetivo: siga a seta");}}
 else if(mode==DOCKREPORT){if(b.pressed){dockPage=(dockPage+1)%3;dirty=true;}else if(a.pressed){if(!saveOK)saveGame();else if(dockPage<2)dockPage++;else mode=WORLDPORT;dirty=true;}}
 else if(mode==REPORT){if(a.pressed&&!saveOK){saveGame();dirty=true;}else if(a.pressed){mode=campaignFlight?STORY:BASE;if(campaignFlight){storyStep=2;campaignFlight=false;}dirty=true;}}
 else if(mode==JOURNAL){if(b.pressed){journalPage=(journalPage+1)%6;dirty=true;}if(a.pressed){mode=BASE;dirty=true;}}
 else if(mode==BASE){float j=axis(26,cx);if(fabsf(j)<0.2f)j=axis(27,cy);if(fabsf(j)>0.3f&&now-navAt>250){selection=(selection+(j>0?1:menuCount()-1))%menuCount();navAt=now;beep(600,30);dirty=true;}
 if(b.pressed){selection=(selection+1)%menuCount();dirty=true;}
 if(a.pressed){dirty=true;
 if(menuPage==0){if(selection==0){startWorld();}else if(selection==1){menuPage=1;selection=0;}else if(selection==2)mode=JOURNAL;else{openFlight=false;campaignFlight=false;lesson=0;special=false;training=true;mode=LESSON;}}
 else if(menuPage==1){if(selection==0){storyShown=storyChapter<chapterCount?storyChapter:chapterCount-1;storyStep=storyChapter<chapterCount?0:2;mode=STORY;}
 else if(selection<4){campaignFlight=false;mission=selection-1;contract=mission;special=false;mode=CONTRACT;}else if(selection==4){menuPage=2;selection=0;}else if(selection==5){openSettings(BASE);}else{menuPage=0;selection=0;}}
 else if(selection==4){menuPage=0;selection=0;}
 else if(selection==0){int unlocked=rankLevel>=4?3:rankLevel>=2?2:1;if(unlocked==1)say("Setor 2: nivel 2");else{sector=(sector+1)%unlocked;saveGame();say(saveOK?sectors[sector]:"Erro ao salvar!");}}
 else {int* upgrade=selection==1?&level:selection==2?&engineLevel:&tankLevel;int cost=selection==1?30:selection==2?40:35;if(*upgrade>=3)say("Melhoria no maximo");else if(credits<cost)say("Faltam creditos");else{credits-=cost;(*upgrade)++;saveGame();say(saveOK?"Nave melhorada!":"Erro ao salvar!");music(2);}}
 }}
 else if(mode==LOST){if(a.pressed){openFlight=false;campaignFlight=false;restoreCheckpoint();bonus=0;escortAidPending=0;towing=false;escortActive=false;rescuingIvo=false;autoPilot=false;actionPending=false;training=false;special=false;resetShip();mode=BASE;menuPage=0;selection=0;dirty=true;}}
 else if(mode==PANEL){if(openFlight){if(b.pressed){mode=FLIGHT;dirty=true;}if(a.pressed){mode=WORLDMAP;dirty=true;}}else {if(a.pressed){soundOn=!soundOn;saveGame();if(!soundOn){tune=-1;noteUntil=0;noTone(21);digitalWrite(21,LOW);}else music(0);dirty=true;}if(b.pressed){mode=FLIGHT;dirty=true;}}}
 else if(b.pressed){mode=PANEL;dirty=true;}
 if(mode!=previousMode){inputGuard=true;navAt=now;previousMode=mode;}
 // A menu confirmation must never become a flight interaction in the same loop.
 if(mode==FLIGHT && inputMode==FLIGHT && a.pressed)actionPending=true;
 if(mode!=FLIGHT)actionPending=false;
 if(now-frameAt>=50){frameAt=now;if(mode==FLIGHT&&openFlight){tickWorld(now);dirty=true;}else if(mode==FLIGHT){if(!training)flightTicks++;float ax=axis(27,cy),ay=-axis(26,cx);thrust=(fabsf(ax)+fabsf(ay)>0.1f)&&fuel>0;if(fuel>0){float power=(0.055f+engineLevel*0.009f)*(!training&&cargo&&mission==2?0.8f:1.0f);vx+=ax*power;vy+=ay*power;if(!training)fuel=fmaxf(0,fuel-(fabsf(ax)+fabsf(ay))*0.013f*(mission==2?1.0f-0.06f*crewPower(2):1.0f));}vx*=0.88f;vy*=0.88f;float s=speed();if(s>2){vx*=2/s;vy*=2/s;}x+=vx;y+=vy;if(x<8||x>392){x=constrain(x,8.0f,392.0f);vx*=-0.4f;}if(y<8||y>292){y=constrain(y,8.0f,292.0f);vy*=-0.4f;}
 for(auto &r:rocks)if(!training&&dist(x,y,r[0],r[1])<9&&now-hitAt>1200){hitAt=now;flightHits++;if(!cargo&&mission==0)integrity=max(0,integrity-20);float damage=18+sector*4-level*3-(frontierStage(sector)>=1?2:0);if(mission==0)damage=fmaxf(1,damage-2*crewPower(0));if(shield>=damage)shield-=damage;else{hull-=damage-shield;shield=0;}vx*=-0.7f;vy*=-0.7f;beep(160,140);say("Impacto!");}
 if(training&&lesson==1){moved+=speed();if(moved>12){vx=vy=0;lesson=2;mode=LESSON;dirty=true;}}
 if(!training&&!cargo&&mission==1&&dist(x,y,tx[mission],ty[mission])<24&&a.down&&!inputGuard&&inputMode==FLIGHT){scanTicks++;if(scanTicks>=scanRequired()){vx=vy=0;scanTicks=0;if(variedMission()&&routeStep<2){routeStep++;routeTarget();say("Leitura OK! Proximo");}else{cargo=true;say("Mapa OK! Volte BASE");}music(2);}}
 if(variedMission()&&mission==2&&!cargo&&!rescueFixed){
 if(dist(x,y,tx[mission],ty[mission])<24&&a.down&&!inputGuard&&inputMode==FLIGHT){scanTicks++;if(scanTicks>=40){rescueFixed=true;scanTicks=0;vx=vy=0;say("Reparo OK! A: rebocar");music(2);}}
 else scanTicks=0;
 }
 if(actionPending){actionPending=false;
 if(training&&lesson==1)say("Mova o joystick");
 else if(!training&&!encounterDone&&dist(x,y,signalX,signalY)<22){mode=ENCOUNTER;encounterChoice=0;vx=vy=0;msgUntil=0;}
 else if(!training&&!cargo&&mission==1&&dist(x,y,tx[mission],ty[mission])<24){}
 else if(variedMission()&&!cargo&&mission==2&&!rescueFixed&&dist(x,y,tx[mission],ty[mission])<24){}
 else if(!cargo&&dist(x,y,tx[mission],ty[mission])<24){vx=vy=0;if(variedMission()&&mission==0&&routeStep==0){routeStep++;routeTarget();say("Entrega 1/2! Proxima");}else{cargo=true;if(training)lesson=4;say("Agora volte a BASE");}music(2);}
 else if(cargo&&dist(x,y,50,150)<24){if(!training){int oldCredits=credits,oldXP=xp;reportSector=sector;int oldAid=sectorAid[sector];reward();sectorAid[sector]=min(12u,sectorAid[sector]+uint32_t(mission==0?2:mission==1?1:3));reportAid=sectorAid[sector]-oldAid;reportOnline=oldAid<12&&sectorAid[sector]>=12;if(campaignFlight){storyChapter++;sector=homeSector;credits+=25;xp+=15;rankLevel=1;while(rankLevel<5&&xp>=rankLevel*60)rankLevel++;}reportCredits=credits-oldCredits;reportXP=xp-oldXP;saveGame();}resetShip();if(training){lesson=5;mode=LESSON;}else{mode=REPORT;say(saveOK?(contractWon?"Contrato especial OK!":"Concluida e salva!"):"Erro ao salvar!");}music(3);}
 else say(cargo?"Siga seta para BASE":"Siga seta para ALVO");}

 if(hull<=0||fuel<=0){mode=LOST;music(4);}dirty=true;}
 if(dirty){draw();radar();dirty=false;}}
}