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

int lcdColumns = 20;
int lcdRows = 4;

const int DIR   = 12;
const int STEP  = 14;
const int DIR2  = 27;
const int STEP2 = 26;

#define motorInterfaceType 1
AccelStepper vertical(motorInterfaceType, STEP, DIR);

#define motorInterfaceType 1
AccelStepper horizontal(motorInterfaceType, STEP2, DIR2);


LiquidCrystal_I2C lcd(0x27, lcdColumns,lcdRows);

void setup() {

  Wire.begin();
  Serial.begin(115200);
  Serial.println("\nI2C Scanner");
  horizontal.setMaxSpeed(1000);
  horizontal.setAcceleration(600);
  horizontal.setSpeed(100);
  horizontal.moveTo(40);

  vertical.setMaxSpeed(1000);
  vertical.setAcceleration(600);
  vertical.setSpeed(100);
  vertical.moveTo(40);

  
  lcd.init();
  lcd.backlight();
}

void loop() {
  
  
 
  if (horizontal.distanceToGo() == 0) {
    horizontal.moveTo(-horizontal.currentPosition());
    lcd.clear();
    lcd.setCursor(15, 0);
    lcd.print(horizontal.currentPosition());
    Serial.println("Rotating Horizontal in opposite direction...");
    lcd.setCursor(0, 0);
    lcd.print("Horizontal");
  }
  if (vertical.distanceToGo() == 0) {
    vertical.moveTo(-vertical.currentPosition());
    lcd.clear();
    lcd.setCursor(15, 1);
    lcd.print(vertical.currentPosition());
    Serial.println("Rotating Vertical in opposite direction...");
    lcd.setCursor(0, 1);
    lcd.print("Vertical");

  }
  vertical.run();
  horizontal.run();
  
}