const int dirPin = 2;
const int stepPin = 3;
int btn_check = 0;
const int STEP_PER_REV = 300;
int speed_dec = 6000;
int r = 0, count = 0, val;

const int dirPin_2 = 4;
const int stepPin_2 = 7;
int btn_check_2 = 0;
const int STEP_PER_REV_2 = 300;
int speed_dec_2 = 6000;
int r_2 = 0, count_2 = 0, val_2;


const int trigPin = 9;
const int echoPin = 6;
long duration;
int distance;

const int trigPin_2 = 11;
const int echoPin_2 = 5;
long duration_2;
int distance_2;

int found, stock_found;

void setup() {
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(12, INPUT_PULLUP);

  pinMode(stepPin_2, OUTPUT);
  pinMode(dirPin_2, OUTPUT);
  pinMode(8, INPUT_PULLUP);

  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(trigPin_2, OUTPUT);
  pinMode(echoPin_2, INPUT);

  Serial.begin(9600);


}

void loop() {


  //    HC-SENSOR

  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2;


  digitalWrite(trigPin_2, LOW);
  digitalWrite(trigPin_2, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin_2, LOW);
  duration_2 = pulseIn(echoPin_2, HIGH);
  distance_2 = duration_2 * 0.034 / 2;


  if (distance >= 10)
  {
    digitalWrite(13, HIGH);
    digitalWrite(10, LOW);
    found = 0;
  }


  else if (distance <= 10)
  {
    digitalWrite(10, HIGH);
    digitalWrite(13, LOW);
    found = 1;


    val = digitalRead(12);

    if (val == 0)
    {
      count = count + 1;
    }


    if (count == 1)
    {
      btn_check = btn_check + 1;
      r = 1;
      while (r <= 1)
      {
        digitalWrite(dirPin, HIGH);
        for (int x = 0; x < STEP_PER_REV; x++)
        {
          digitalWrite(stepPin, HIGH);
          delayMicroseconds(speed_dec);
          digitalWrite(stepPin, LOW);
          delayMicroseconds(3000);
        }


        delay(1000);
        r++;

        btn_check++;
        if (r == 2)
        {
          digitalWrite(stepPin, LOW);
        }



        // if(btn_check==6)
        //  {
        //   reverse();
        //  }
        //Serial.println(btn_check);
      }
      count = 0;

    }




  }

  if (distance_2 >= 10)
  {
    analogWrite(A4, 255);
    analogWrite(A5, 0);
    found = 0;
    stock_found = 0;
  }

  else if (distance_2 <= 10)
  {
    analogWrite(A4, 0);
    analogWrite(A5, 255);
    found = 1;


    val_2 = digitalRead(8);

    if (val_2 == 0)
    {
      count_2 = count_2 + 1;
    }

    if (count_2 == 1)
    {
      btn_check_2 = btn_check_2 + 1;
      r_2 = 1;
      while (r_2 <= 1)
      {

        digitalWrite(dirPin_2, HIGH);

        for (int x_2 = 0; x_2 < STEP_PER_REV_2; x_2++)
        {
          digitalWrite(stepPin_2, HIGH);
          delayMicroseconds(speed_dec_2);
          digitalWrite(stepPin_2, LOW);
          delayMicroseconds(3000);
        }
        delay(1000);
        r_2++;

        btn_check_2++;
        if (r_2 == 2)
        {
          digitalWrite(stepPin_2, LOW);
        }

        // if(btn_check_2==6)
        //  {
        //   reverse_2();
        //  }
        //Serial.println(btn_check);
      }
      count_2 = 0;
    }

  }


}




















// MOTOR 2 BUTTON 2



/*
  void reverse()
  {
  digitalWrite(dirPin, LOW);
    for(int x=0;x<STEP_PER_REV*3;x++)
     {
     digitalWrite(stepPin, HIGH);
     delayMicroseconds(1000);
     digitalWrite(stepPin, LOW);
     delayMicroseconds(1000);
     }
     btn_check=0;
     return(btn_check);
  }

  //      MOTOR 2 REVERS

  void reverse_2()
  {
  digitalWrite(dirPin_2, LOW);
    for(int x_2=0;x_2<STEP_PER_REV_2*3;x_2++)
     {
     digitalWrite(stepPin_2, HIGH);
     delayMicroseconds(1000);
     digitalWrite(stepPin_2, LOW);
     delayMicroseconds(1000);
     }
     btn_check_2=0;
     return(btn_check_2);
*/