#define inputdir 2
#define pindir 3
#define tambah 5
#define kurang 4
#define langkah 6
#define motorInterfaceType 1

#include <LiquidCrystal_I2C.h>
#include <AccelStepper.h>

LiquidCrystal_I2C lcd(0x27, 16, 2);
AccelStepper stepper = AccelStepper(motorInterfaceType, langkah, pindir);

int arah = 0;
int nilai = 0;

void setup() {
  // put your setup code here, to run once:
  pinMode(inputdir, INPUT);
  pinMode(pindir, OUTPUT);
  pinMode(tambah, INPUT);
  pinMode(kurang, INPUT);
  pinMode(langkah, OUTPUT);
  lcd.init();
  lcd.backlight();

  stepper.setMaxSpeed(200);
  stepper.setAcceleration(30);

  //lcd.setCursor(0,0);
  //lcd.print("Motor Stepper");
  //delay(500);
  //lcd.clear();
  lcd.setCursor(0,0);
  lcd.print("arah : ");
  lcd.setCursor(7,0);
  lcd.print("CCW");
}

void loop() {
  // put your main code here, to run repeatedly:
  lcd.setCursor(0,0);
  lcd.print("arah : ");
  

  int dir = digitalRead(inputdir);
  if(dir == 1){
    arah++;
    if(arah>1){
      arah = 0;
      lcd.setCursor(7,0);
      lcd.print("CCW");
    }
    else{
      lcd.setCursor(7,0);
      lcd.print(" CW");
    }
    delay(100);
  }
  digitalWrite(pindir, arah);

  int penambahan = digitalRead(tambah);
  if(penambahan == 1){
    nilai++;
  }

 int pengurangan = digitalRead(kurang);
  if(pengurangan == 1){
    nilai--;
  }

  lcd.setCursor(0,1);
  lcd.print("jarak:");
  lcd.setCursor(7,1);
  lcd.print(nilai);
  //for (int x = 0; x < nilai; ++)
  //{
    //digitalWrite(langkah, HIGH);
    //delayMicroseconds(2000);
    //digitalWrite(langkah, LOW);
    //delayMicroseconds(2000);
  //}
if (arah==0){
  stepper.moveTo(-nilai);
  stepper.runToPosition();
}
else{
  stepper.moveTo(nilai);
  stepper.runToPosition();
}
}