#include <ESP32Servo.h>
Servo myServo;
const int ServoPin = 2;
const int PotPin = 35;
const int enable = 18;
const int MS1 = 5;
const int MS2 = 4;
const int MS3 = 15;
const int step = 25;
const int dir = 26;

TaskHandle_t Task1;
TaskHandle_t Task2;

void setup() {
  pinMode(enable, OUTPUT);
  pinMode(MS1, INPUT);
  pinMode(MS2, INPUT);
  pinMode(MS3, INPUT);
  pinMode(step, OUTPUT);
  pinMode(dir, INPUT_PULLUP);

  Serial.begin(115200);
  xTaskCreatePinnedToCore(Task1code, "Task1", 10000, NULL, 1, &Task1, 0);
  xTaskCreatePinnedToCore(Task2code, "Task2", 10000, NULL, 1, &Task2, 1);
}
void Task1code( void * parameter )
{
  Serial.print("Stepper Motor is running on core: ");
  Serial.println(xPortGetCoreID());
  digitalWrite(enable, LOW);
  digitalWrite(MS1, LOW);
  digitalWrite(MS2, LOW);
  digitalWrite(MS3, LOW);

  for (;;)
  {
    int val = analogRead(PotPin);
    int mapval = map(val, 0, 4095, 0, 2049);
    bool Btn_Sts = digitalRead(dir);
    if (Btn_Sts == false)
    {
      for (int i = 0; i < mapval; i++)
      {
        digitalWrite(step, HIGH);
        delay(100);
        digitalWrite(step, LOW);
        delay(100);
      }
    }
    else if (Btn_Sts == true)
    {
      for (int i = mapval; i >= 0; i--)
      {
        digitalWrite(step, HIGH);
        delay(100);
        digitalWrite(step, LOW);
        delay(100);
      }

    }
  }
}
void Task2code( void * parameter ) {
  Serial.print("Servo Motor is running on core: ");
  Serial.println(xPortGetCoreID());
  myServo.attach(ServoPin);
  for (;;) {
    int val = analogRead(PotPin);
    int mapval = map(val, 0, 4095, 0, 180);
    myServo.write(mapval);
  }
}
void loop() {
}