/*Example sketch to control a stepper motor with DRV8825 stepper motor driver, AccelStepper library and Arduino: number of steps or revolutions. More info: https://www.makerguides.com */

// Include the AccelStepper library:

#include <AccelStepper.h>
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27,16,2);

// Define stepper motor connections and motor interface type. Motor interface type must be set to 1 when using a driver:
#define dirPin 2
#define stepPin 5
#define motorInterfaceType 1

//CNC configuration
int EN = 8;
const int start_button = A0;  // the number of the pushbutton pin (abort button)
const int stop_button = 18;  // the number of the pushbutton pin (hold button)
const int reset_button = 19;  // 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 
const int ledPin_reset = 11;    // the number of the LED pin 

// Create a new instance of the AccelStepper class:
AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);

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);
       // initialize the stop LED pin as an output:
  pinMode(ledPin_reset, OUTPUT);
  // initialize the stop pushbutton pin as an input:
  pinMode(reset_button, INPUT_PULLUP);

  // set up interrupt function
attachInterrupt ( digitalPinToInterrupt ( stop_button ), stop, LOW );
  
  // Set the maximum speed and acceleration:
  stepper.setMaxSpeed(300);
  stepper.setAcceleration(60);
// initialisation of LCD
  lcd.init();
  lcd.backlight();
  lcd.setCursor(1, 0);
  lcd.print("S1");

}

void(* resetFunc) (void) = 0;//declare reset function at address 0
 
void loop() {

 if (digitalRead(start_button)==LOW){
     
 digitalWrite(ledPin_start, HIGH);
   delay(1000);
  lcd.setCursor(1, 1);
  lcd.print(stepper.currentPosition());
lcd.print(" ");
delay(2000);
  lcd.clear();
  // Set the target position:
  stepper.move(200);
  // Run to target position with set speed and acceleration/deceleration:
  stepper.runToPosition();
    lcd.setCursor(1, 0);
  lcd.print("S1");
    lcd.setCursor(1, 1);
  lcd.print(stepper.currentPosition());
   lcd.print(" ");
   delay(2000);
  lcd.clear();
 
  // Move to 100 steps clockwise
  stepper.move(-100);
  stepper.runToPosition();
    lcd.setCursor(1, 0);
  lcd.print("S1");
  lcd.setCursor(1, 1);
      lcd.print(stepper.currentPosition());
    lcd.print(" ");
 delay(2000);
  lcd.clear();


    // Move back to zero:
  stepper.move(-100);
  stepper.runToPosition();
    lcd.setCursor(1, 0);
  lcd.print("S1");
   lcd.setCursor(1, 1);
  lcd.print(stepper.currentPosition());
  lcd.print(" ");
  delay(2000);
  lcd.clear();
 

  //Move 50 steps counter-clockwise
  stepper.move(50);
  stepper.runToPosition();
    lcd.setCursor(1, 0);
  lcd.print("S1");
  lcd.setCursor(1, 1);
  lcd.print(stepper.currentPosition());
  lcd.print(" ");
  delay(2000);
  lcd.clear();
 
  delay(1000);

//Move 25 steps clockwise
    stepper.move(-25);
  stepper.runToPosition();
    lcd.setCursor(1, 0);
  lcd.print("S1");
  lcd.setCursor(1, 1);
  lcd.print(stepper.currentPosition());
  lcd.print(" ");
  delay(2000);
  lcd.clear();
 

  

     // Move back to zero:
  stepper.moveTo(0);
  stepper.runToPosition();
  lcd.setCursor(1, 0);
  lcd.print("S1");
  lcd.setCursor(1, 1);
  lcd.print(stepper.currentPosition());
  lcd.print(" ");
  delay(2000);
  lcd.clear();


  digitalWrite(ledPin_start, LOW);
  delay(1000);//Wait 1000 milliseconds (1 second) before moving again
}


}
   void stop ( )
   {  digitalWrite(ledPin_start, LOW);
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
          digitalWrite(ledPin_stop, HIGH);
     delay(3000);//Wait 2000 milliseconds (1 second) before moving again
        digitalWrite(ledPin_stop, LOW);
     delay(1000);//Wait 2000 milliseconds (1 second) before moving again
    resetFunc(); //call reset
       lcd.clear();
   }