#include <AccelStepper.h>

// Define some steppers and the pins the will use
AccelStepper Base(AccelStepper::DRIVER, 9, 8);

int angle;
bool BaseHomePos = false;

void setup() {
  Serial.begin(115200);
  pinMode(12, INPUT_PULLUP);
  
  Base.setMaxSpeed(1600.0);
  Base.setAcceleration(1600.0);
  
}

void loop() {
  
  angle = 180;
  if (BaseHomePos == false) {
    if (digitalRead(12) == LOW) {
      //Stops the motor whenever it is pressed
      Base.stop();
      Serial.println(Base.currentPosition());

      //sets the stop position as home position
      Base.setCurrentPosition(0);
      Serial.println(Base.currentPosition());

      //Gives information to the system that the robotic arm is home positioned
      BaseHomePos = true;

      delay(250);
    }
    else if (digitalRead(12) == HIGH) { 
      Base.run();
      Base.moveTo(-10000);
    }
  }
else if (BaseHomePos == true) {
  Base.run();
  Base.moveTo(map(angle, 0, 180, 0, 1600));
}
  //Serial.println(computeNewSpeed());
  
}