#include <AccelStepper.h>   // for commands for max vel, max acc, and others
//#include <StepperDriver.h>  // for A4988 specific stepper?
                            // nothing from these libraries used yet

#define dirPin 3
#define stepPin 4
#define MS1Pin 7
#define MS2Pin 6
#define MS3Pin 5
#define handwheelPin 3
int val = 0; // variable to store the value read
bool automatic = true; // 

void setup() { //runs once
  pinMode(stepPin,OUTPUT); 
  pinMode(dirPin,OUTPUT);
  pinMode(MS1Pin,OUTPUT);
  pinMode(MS2Pin,OUTPUT);
  pinMode(MS3Pin,OUTPUT);
  Serial.begin(9600); // setup serial
}

// MS1   MS2   MS3
// low   low   low     full step    fast    200 steps for full rotation, 1,8° per step
// high  low   low     half step            400 steps, 0,9°
// low   high  low     1/4  step            800, 0,45° 
// high  high  low     1/8  step            1600, 0,225°
// high  high  high    1/16 step    precise 3200 steps for full rotation, 0,1125° 
void set_full_step (){
  digitalWrite(MS1Pin,LOW); // ensuring full step resolution
  digitalWrite(MS2Pin,LOW); 
  digitalWrite(MS3Pin,LOW);
}
void set_half_step (){
  digitalWrite(MS1Pin,HIGH); 
  digitalWrite(MS2Pin,LOW); 
  digitalWrite(MS3Pin,LOW);
}
void set_quarter_step (){
  digitalWrite(MS1Pin,LOW); 
  digitalWrite(MS2Pin,HIGH); 
  digitalWrite(MS3Pin,LOW);
}
void set_eigth_step (){
  digitalWrite(MS1Pin,HIGH); 
  digitalWrite(MS2Pin,HIGH); 
  digitalWrite(MS3Pin,LOW);
}
void set_sixteenth_step (){
  digitalWrite(MS1Pin,HIGH); 
  digitalWrite(MS2Pin,HIGH); 
  digitalWrite(MS3Pin,HIGH);
}

void loop() {
  if (automatic == true) {
  digitalWrite(dirPin,HIGH);      // Enables the motor to move in a particular direction (here clockwise)
  
  set_quarter_step();             // ensuring full step resolution
  
  for(int x = 0; x < 200; x++) {  // Makes 200 pulses for making one full cycle rotation
    digitalWrite(stepPin,HIGH);
    delayMicroseconds(500);       // increase delay between steps to decrease rotation speed
    digitalWrite(stepPin,LOW); 
    delayMicroseconds(500); 
  }
  delay(3000);                    // tree second delay

  digitalWrite(dirPin,LOW);       // Changes the rotation direction (here to counter clockwise)
  for(int x = 0; x < 400; x++) {  // Makes 400 pulses to do two full cycle rotation
    digitalWrite(stepPin,HIGH);
    delayMicroseconds(500);
    digitalWrite(stepPin,LOW);
    delayMicroseconds(500);
  }
  delay(1000);
  }

  else { //manual mode
  val = analogRead(handwheelPin); // read the input pin
  float voltage = val * (5.0 / 1023.0);
  Serial.println(voltage);        // debug value


  }  

}