#include <Arduino.h>
#include "A4988.h"

const int StepX = 2; //Step of stepper motor driver
const int DirX = 5; //Direction of stepper motor driver
int MS1 ; //GPIO7 in Arduino UNO --- MS1 for A4988
int MS2 ; //GPIO6 in Arduino UNO --- MS2 for A4988
int MS3 ; //GPIO5 in Arduino UNO --- MS3 for A4988
 
//Motor Specs
const int spr = 200; //Steps per revolution
int RPM = 25; //Motor Speed in revolutions per minute
int Microsteps = 1; //Stepsize (1 for full steps, 2 for half steps, 4 for quarter steps, etc)
 
//Providing parameters for motor control
A4988 stepper(spr, DirX, StepX, MS1, MS2, MS3);

//CNC configuration
int EN = 8;
const int start_button = A0;  // the number of the pushbutton pin (abort button)
const int stop_button = A1;  // the number of the pushbutton pin (hold button)
const int ledPin_start = 9;    // the number of the LED pin (endstopx)
const int ledPin_stop = 10;    // the number of the LED pin (endstopx)
 
void setup() {
  Serial.begin(9600);
 pinMode(EN, OUTPUT); // to enable CNC drivers
 digitalWrite(EN, LOW); //Low to enable
    // initialize the start LED pin as an output:
  pinMode(ledPin_start, OUTPUT);
  // initialize the start pushbutton pin as an input:
  pinMode(start_button, INPUT_PULLUP);
      // initialize the stop LED pin as an output:
  pinMode(ledPin_stop, OUTPUT);
  // initialize the stop pushbutton pin as an input:
  pinMode(stop_button, INPUT_PULLUP);

  pinMode(StepX, OUTPUT); //Step pin as output
  pinMode(DirX,  OUTPUT); //Direcction pin as output
  digitalWrite(StepX, LOW); // Currently no stepper motor movement
  digitalWrite(DirX, LOW);
  delay(1000);//Wait 1000 milliseconds (1 second) proceeding
  // Set target motor RPM to and microstepping setting
  stepper.begin(RPM, Microsteps);
}
 
void loop() {
  if (digitalRead(start_button)==LOW){
    digitalWrite(ledPin_start, HIGH);
    delay(1000);
    stepper.move(-400);//Move 400 steps clockwise (angle 720)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    stepper.move(400);//Move 400 steps counter-clockwise (angle 720)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    stepper.move(-200);//Move 200 steps clockwise (angle 360)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    stepper.move(100);//Move 100 steps counter-clockwise (angle 180)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    stepper.move(100);//Move 100 steps counter-clockwise (angle 180)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    stepper.move(20);//Move 20 steps counter-clockwise (angle 36)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    stepper.move(-20);//Move 20 steps clockwise (angle 36)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    stepper.move(25);//Move 25 steps counter-clockwise (angle 45)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    stepper.move(25);//Move additional 25 steps counter-clockwise (angle 45)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    stepper.move(-50);//Move 50 steps clockwise (angle 90)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    digitalWrite(start_button, HIGH);
   delay(1000);//Wait 1000 milliseconds (1 second) before moving again
   
  }
        if (digitalRead(stop_button)==LOW){
     digitalWrite(ledPin_stop, HIGH);
     delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    digitalWrite(start_button, HIGH);
   delay(1000);//Wait 1000 milliseconds (1 second) before moving again
   

     }
  
      if (digitalRead(start_button)==HIGH){
    digitalWrite(ledPin_start, LOW);
    digitalWrite(ledPin_stop, LOW);
  }  

   }