int Led = 13 ;// Deklaration des LED-Ausgangspin

const byte sen = 9;
const unsigned long minStepTime = 50;
const unsigned long minWaitTime = 2000;

struct object_type {
    boolean       Found = false;
    unsigned long Time        = 0;
    unsigned long WaitTime    = 0;
  };

object_type object;  

struct motor_type {
    unsigned long lastStep;
    byte dirPin;
    byte stepPin;
    boolean Stopped;
};

motor_type motor = {
  0,
  5,
  2,
  false
};

void setup ()
{
  Serial.begin(115200);
  pinMode(motor.stepPin, OUTPUT);   // Step Signal fuer Geschw.
  pinMode(motor.dirPin, OUTPUT);    //Dir -> direction
  pinMode (Led, OUTPUT) ; // Initialisierung Ausgangspin
  pinMode (sen, INPUT) ; // Initialisierung Sensorpin
  digitalWrite(motor.dirPin, LOW);
}

  
void loop ()
{
  
  if (ObjectDetected()) HandleObject();
                   else object.Found = false;
  if (millis()-object.Time < object.WaitTime) Wait();
                                         else GoOn();                 
}

boolean ObjectDetected(){
  static byte          lastState = LOW;
  static unsigned long lastChangeTime = 0;
  byte value = digitalRead(sen);
  if (value != lastState) lastChangeTime = millis();
  lastState = value;
  if (millis() - lastChangeTime > 5) {
     return !lastState;     
   } return false;
}

void HandleObject(){
   if (!object.Found) {           // Falls bisher noch nicht erkannt
             object.Found = true;   
             unsigned long delta = millis()- object.Time; 
             if (delta < minWaitTime) object.WaitTime = minWaitTime-delta;
                                 else object.WaitTime = 0;
            object.Time = millis(); // dann jetzt die Zeit nehmen
          Serial.print("Objekt erkannt\t");
          Serial.println(object.WaitTime);
        }
 }


void Wait(){
    if (!motor.Stopped) {
        digitalWrite (Led, HIGH);
        Serial.print(millis());
        Serial.println("\t...WARTEN...");
        motor.Stopped = true;
    }
}

void GoOn(){
    if (motor.Stopped) {
        digitalWrite (Led, LOW);
        Serial.print(millis());
        Serial.println("\t...weiter...");
        motor.Stopped = false;
      }
    MoveMotor();  
}

void MoveMotor(){
  if (millis()-motor.lastStep > minStepTime) {
     motor.lastStep = millis();
    digitalWrite(motor.stepPin, HIGH);
    delayMicroseconds(471);
    digitalWrite(motor.stepPin, LOW);
    delayMicroseconds(471); 
  }
}