#include <IFX9201_XMC1300_StepperMotor.h>

#define DIR_PIN IFX9201 STEPPERMOTOR_STD_DIR    // Pin 9 is standard DIR Pin
#define STP_PIN IFX9201 STEPPERMOTOR_STD_STP    // Pin 10 is standard STP Pin
#define DIS_PIN IFX9201 STEPPERMOTOR_STD_DIS    // Pin 11 is standard DIS Pin
const int StepsPerRevolution = 200;            // počet kroku motoru na otáčku

// Stepper motor object
Stepper_motor MyStepperMotor = Stepper_motor(StepsPerRevolution, DIR_PIN, STP_PIN, DIS_PIN);

volatile boolean Turn_detected;                 // Interrupts
volatile boolean Rotation_direction;            // CW nebo CCW rotace

//--Rotary encoder
const int CLK_pin = 2;
const int DT_pin = 3;
const int SW_pin = 13;
int direction;                                  // CW nebo CCW rotace
int Kroky = 0;
//----------------------------
void Rotary_detect () {
  delay(50);
  if (digitalRead(CLK_pin)){
    Rotation_direction = digitalRead(DT_pin);
    } else {
      Rotation_direction = digitalRead(DT_pin);
      Turn_detected = true;
    }
}

void setup() {
  Serial.begin(9600);

  MyStepperMotor.begin(); 
  MyStepperMotor.setSpeed(120);                 // rychlost na 10 ot/min: 125 max
  MyStepperMotor.reset_motor();                 //reset motor
  pinMode (CLK_pin, INPUT);
  pinMode (DT_pin, INPUT);
  pinMode (SW_pin, OUTPUT);
  digitalWrite(SW_pin, HIGH); 
  attachInterrupt (0, Rotary_detect, FALLING);

}

void loop() {

  if (!(digitalRead(SW_pin))) {

    MyStepperMotor.begin();
    MyStepperMotor.setSpeed(100);
    MyStepperMotor.step(Kroky);
    delay(Kroky + 500);
    Kroky = 0;
    MyStepperMotor.end();
  }

  if (Turn_detected) {
    Turn_detected = false;
    if (Rotation_direction) { 
      Kroky = Kroky - 20;
    }
    if (!Rotation_direction) {
      Kroky = Kroky + 20; 
    }
      MyStepperMotor.end();

  }

}