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


AccelStepper stepperR; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
AccelStepper stepperL(AccelStepper::FULL4WIRE,19,18,5,4); 
MultiStepper steppers;
// set the LCD number of columns and rows
int lcdColumns = 16;
int lcdRows = 2;
const byte PositionPot = 12;
const byte AccelerationPot = 13;

// set LCD address, number of columns and rows
// if you don't know your display address, run an I2C scanner sketch
LiquidCrystal_I2C lcd(0x27, lcdColumns, lcdRows);  

void setup(){
  // initialize LCD
  lcd.init();
  // turn on LCD backlight                      
  lcd.backlight();
   stepperR.setMaxSpeed(1000);
  stepperR.setAcceleration(35);
  stepperL.setMaxSpeed(1000*5);
  stepperL.setAcceleration(35);

  // Then give them to MultiStepper to manage
  steppers.addStepper(stepperL);
  steppers.addStepper(stepperR);
}

void loop(){

   long position = analogRead(PositionPot);
  int accel = analogRead(AccelerationPot);
  long positions[2]; // Array of desired stepper positions
  
  positions[0] = 50 * position;
  positions[1] = -0.5 * position;

  stepperR.setAcceleration(accel);
  stepperL.setAcceleration(accel);

  steppers.moveTo(positions);
  //steppers.runSpeedToPosition(); // Blocks until all are in position
  steppers.run();
  // set cursor to first column, first row
  lcd.setCursor(0, 0);
  // print message
  lcd.print("Stepper Motor!");
  delay(1000);
  // clears the display to print new message
  lcd.clear();
  // set cursor to first column, second row
  lcd.setCursor(0,1);
  lcd.print("Circuit Design:)");
  delay(1000);
  lcd.clear(); 
}