// Define pin connections & motor's steps per revolution

#define dirPin 2
#define stepPin 3
#define LIMIT_SWITCH_PIN1 5
#define LIMIT_SWITCH_PIN2 6
#define select_pin_1 8
#define select_pin_2 9
#define select_pin_3 10

int LIMIT_SWITCH_1 = 0;
int LIMIT_SWITCH_2 = 0;
int select_1 = 0;
int select_2 = 0;
int select_3 = 0;

int wantedPos = 0;
int currentPos = 0;
int steps_to_go = 0;


void setup()
{

  Serial.begin(9600);
  // set limit switches as input
  pinMode(LIMIT_SWITCH_PIN1, INPUT);
  pinMode(LIMIT_SWITCH_PIN2, INPUT);
 // set input buttons as input
  pinMode(select_pin_1, INPUT);
  pinMode(select_pin_2, INPUT);
  pinMode(select_pin_3, INPUT);

  // Declare pins as Outputs
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);

  //homing ();
  
}


void loop()
{

  update_and_print_Sensors();
  while (LIMIT_SWITCH_1 == 0 ) {
      Serial.print("Moving towards LS1 ");
      digitalWrite(dirPin, HIGH);//direction right
      movestep(5000);
      update_and_print_Sensors();
    } // end while

  while (LIMIT_SWITCH_2 == 0 ) {
      Serial.print("Moving towards LS2 ");
      digitalWrite(dirPin, LOW);//direction right
      movestep(5000);
      update_and_print_Sensors();
    } // end while

} // end void loop






/*--------------- MY FUNCTIONS ------------------*/
/*--------------- MY FUNCTIONS ------------------*/
/*--------------- MY FUNCTIONS ------------------*/


void movestep(int mehirut) {
 
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(mehirut);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(mehirut);
   
}

void update_and_print_Sensors() {
        LIMIT_SWITCH_1 = digitalRead(LIMIT_SWITCH_PIN1);
        LIMIT_SWITCH_2 = digitalRead(LIMIT_SWITCH_PIN2);
        Serial.print("LIMIT_1: ");
        Serial.print(LIMIT_SWITCH_1);
        Serial.print("||");
         
        Serial.print("LIMIT_2: ");
        Serial.print(LIMIT_SWITCH_2);
        Serial.println();
}

void homing (){
  update_and_print_Sensors();

   while (LIMIT_SWITCH_1 == 0 ) {
      Serial.print("Moving to home position while LS1 is 0 || ");
      digitalWrite(dirPin, HIGH);//direction right
      movestep(5000);
      update_and_print_Sensors();
    } // end while
   Serial.println("homing position Aquired ");
   currentPos = 0;
   Serial.print("thge Current position is:  ");
   Serial.print(currentPos);
   Serial.println();

} // end homing

void Go_between_two_positions() {
  update_and_print_Sensors();
  while (LIMIT_SWITCH_1 == 0 ) {
      Serial.print("Moving towards LS1 ");
      digitalWrite(dirPin, HIGH);//direction right
      movestep(5000);
      update_and_print_Sensors();
    } // end while

  while (LIMIT_SWITCH_2 == 0 ) {
      Serial.print("Moving towards LS2 ");
      digitalWrite(dirPin, LOW);//direction right
      movestep(5000);
      update_and_print_Sensors();
    } // end while
} // end Go_between_two_positions()


/*
     if (digitalRead(select_pin_1) == 1){
   wantedPos = 100;
   Serial.println("YOU HAVE CHOSEN TO GO TO POSITION 100 ");
 }

 if (digitalRead(select_pin_2) == 1){
   wantedPos = 200;
   Serial.println("YOU HAVE CHOSEN TO GO TO POSITION 200 ");
 }

 if (digitalRead(select_pin_3) == 1){
   wantedPos = 300;
   Serial.println("YOU HAVE CHOSEN TO GO TO POSITION 300 ");
 }

 delay (1500);



if (wantedPos != currentPos){ // if we need to move

  Serial.print("LETS GO!");

  if ((wantedPos - currentPos) > 0 ){ // if to move forward

      Serial.println("forward");
      steps_to_go = wantedPos -currentPos;

    for (int i = 0; i< steps_to_go ; i++){
      
      digitalWrite(dirPin, HIGH);
      movestep(5000);
      currentPos ++;
      Serial.print("current pos is:  ");
      Serial.println(currentPos);
    }
    
  } // end if positive direction


  if ((wantedPos - currentPos) < 0 ){ // if to move backwards

     Serial.println("backward");
     steps_to_go = abs( wantedPos -currentPos);

    for (int i =steps_to_go; i> 0; i--){
      digitalWrite(dirPin, LOW);
      movestep(5000);
      currentPos --;
      Serial.print("current pos is:  ");
      Serial.println(currentPos);
    }
  } // end if positive direction

}// end if
 delay (1500);

  Serial.println("PLEASE ENTER NEXT POSITION ");

  delay (1500);
*/