///////////////////////////////////////////////////////////////////////////////////////
//Terms of use
///////////////////////////////////////////////////////////////////////////////////////
//THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//THE SOFTWARE.
///////////////////////////////////////////////////////////////////////////////////////

//This program can be used to drive a linear actuator, driven by a stepper motor and two limit switches.
//tutorial:
//When you turn on the circuit, the engine initializes until it reaches the red microswitch and waits
//for you to press the yellow start button. when the yellow button is pressed, the motor will run
//in the opposite direction until it reaches the green limit switch and stops to wait for the 
//operator to reinitialize by pressing the yellow button.

//Utilities:
//Sensor-operated door.
//pet feeder.
//elevator door.
//etc etc

// 
// ----------------------------------------------------------------
//                         S E T T I N G S
// ----------------------------------------------------------------

//limitSwitch
#define SW1 12
#define SW2 11
boolean b_limitSW1=0;
boolean b_limitSW2=0;


//Boton
#define BTN 4
boolean b_BOTON;


//stepper
#define dirPin  2
#define stepPin 3
const int stepsPerRevolution = 50;
const int MICROSEG = 200000;



// ----------------------------------------------------------------
//                         F U N C T I O N S
// ----------------------------------------------------------------

void INICIALIZAR() {
Serial.println ("******************************************");
Serial.println("INITIALIZING, You must press SW2 (RED)");


	while ((!b_limitSW2)) { 
    
    REVERSA();
		b_limitSW2 = digitalRead(SW2);

	}
  b_limitSW2=LOW;


}//cierra INICIALIZAR



void ADELANTE() {
// Set motor direction counterclockwise
	digitalWrite(dirPin, HIGH);

	// Spin motor slowly
	for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin, HIGH);
		delayMicroseconds(MICROSEG);
		digitalWrite(stepPin, LOW);
		delayMicroseconds(MICROSEG);
	}
}// cierra ADELANTE


void REVERSA() {
// Set motor direction clockwise
	digitalWrite(dirPin, LOW);

	// Spin motor slowly
	for(int x = 0; x < stepsPerRevolution; x++)
	{
		digitalWrite(stepPin, HIGH);
		delayMicroseconds(MICROSEG);
		digitalWrite(stepPin, LOW);
		delayMicroseconds(MICROSEG);
	}
}// cierra REVERSA

void STOP() {
	// Spin motor slowly (PARAR)
  digitalWrite(stepPin, LOW);
	
} // cierra STOP

// ----------------------------------------------------------------
//                         S E T U P
// ----------------------------------------------------------------

void setup()
{
  Serial.begin(115200);
  // Declare pins as Outputs
	pinMode(stepPin, OUTPUT);
	pinMode(dirPin, OUTPUT);


  pinMode(SW2, INPUT);  //b_limitSW2
	pinMode(BTN, INPUT);  // b_BOTON
	pinMode(SW1, INPUT);  //b_limitSW1

}



// ----------------------------------------------------------------
//                         L O O P
// ----------------------------------------------------------------

void loop()
{
	//yield();


    INICIALIZAR();                   // El motor reversa hasta que llega al microSwitche Rojo
    Serial.println("Waiting for you to press the YELLOW start button");



    while ((!b_BOTON)) {        // Queda en espera del boton Amarillo
  		b_BOTON = digitalRead(BTN);   // Lee el puerto del boton, si es alto, sale del bucle
  	}
    b_BOTON=LOW;                    // Estado anterior del boton antes de ser oprimido



    Serial.println("Waiting for you to press the stop button SW1 (GREEN)");
  	while ((!b_limitSW1)) {     // Queda en espera del microSwitche Verde.
  		ADELANTE();                   // Mientras llega al switche limite, se mueve hacia adelante.
      b_limitSW1 = digitalRead(SW1);
  	}
    b_limitSW1=LOW;                 // Estado anterior de boton antes de ser oprimido


  	STOP();                         // El motor se detiene.


    Serial.println("Waiting for you to press the YELLOW boot button, to initialize again.");
  	while ((!b_BOTON)) {        // Queda en espera del boton amarillo para inicializar
  		b_BOTON = digitalRead(BTN);
  	}
    b_BOTON=LOW;                    // Estado anterior de boton antes de ser oprimido.


  	

}