#include <AccelStepper.h>

// Define pin connections


const int dirPin1 = 22;
const int stepPin1 = 23;

const int dirPin2 = 24;
const int stepPin2 = 25;

const int dirPin3 = 26;
const int stepPin3 = 27;

const int dirPin4 = 28;
const int stepPin4 = 29;

const int dirPin5 = 30;
const int stepPin5 = 31;

const int dirPin6 = 32;
const int stepPin6 = 33;

const int dirPin7 =  34;
const int stepPin7 = 35;

const int dirPin8 = 36;
const int stepPin8 = 37;

const int dirPin9 = 38;
const int stepPin9 = 39;

const int dirPin10 = 40;
const int stepPin10 = 41;



// Define motor interface type
#define motorInterfaceType1 1

// Creates an instance
AccelStepper stepper1(motorInterfaceType1, stepPin1, dirPin1);
AccelStepper stepper2(motorInterfaceType1, stepPin2, dirPin2);
AccelStepper stepper3(motorInterfaceType1, stepPin3, dirPin3);
AccelStepper stepper4(motorInterfaceType1, stepPin4, dirPin4);
AccelStepper stepper5(motorInterfaceType1, stepPin5, dirPin5);
AccelStepper stepper6(motorInterfaceType1, stepPin6, dirPin6);
AccelStepper stepper7(motorInterfaceType1, stepPin7, dirPin7);
AccelStepper stepper8(motorInterfaceType1, stepPin8, dirPin8);
AccelStepper stepper9(motorInterfaceType1, stepPin9, dirPin9);
AccelStepper stepper10(motorInterfaceType1, stepPin10, dirPin10);
String command;
void setup() {
  Serial.begin(9600);
  Serial.println("hi");
  // set the maximum speed, acceleration factor,

  stepper1.setMaxSpeed(1000);
  stepper2.setMaxSpeed(1000);
  stepper3.setMaxSpeed(1000);
  stepper4.setMaxSpeed(1000);
  stepper5.setMaxSpeed(1000);
  stepper6.setMaxSpeed(1000);
  stepper7.setMaxSpeed(1000);
  stepper8.setMaxSpeed(1000);
  stepper9.setMaxSpeed(1000);
  stepper10.setMaxSpeed(1000);


  

}

void loop() { 
//checks for input from serial monitor
 if(Serial.available()){
        command = Serial.readStringUntil('\n');
         
        if(command.equals("drop1")||command. equals("Drop1")||command.equals("drop 1")||command.equals("Drop 1")){
          Serial.println("dropping 1");
            stepper1.moveTo(6900);
            stepper1.setSpeed(1000);
            
        }
if(command.equals("drop2")||command. equals("Drop2")||command.equals("drop 2")||command.equals("Drop 2")){
            Serial.println("dropping 2");
            stepper2.moveTo(6900);
            stepper2.setSpeed(1000);
        }
if(command.equals("drop3")||command. equals("Drop3")||command.equals("drop 3")||command.equals("Drop 3")){
            Serial.println("dropping 3");
            stepper3.moveTo(6900);
            stepper3.setSpeed(1000);
        }
if(command.equals("drop4")||command. equals("Drop4")||command.equals("drop 4")||command.equals("Drop 4")){
            Serial.println("dropping 4");
            stepper4.moveTo(6900);
            stepper4.setSpeed(1000);
        }
if(command.equals("drop5")||command. equals("Drop5")||command.equals("drop 5")||command.equals("Drop 5")){
            Serial.println("dropping 5");
            stepper5.moveTo(6900);
            stepper5.setSpeed(1000);
        }
if(command.equals("drop6")||command. equals("Drop6")||command.equals("drop 6")||command.equals("Drop 6")){
            Serial.println("dropping 6");
            stepper6.moveTo(6900);
            stepper6.setSpeed(1000);
        }
if(command.equals("drop7")||command. equals("Drop7")||command.equals("drop 7")||command.equals("Drop 7")){
            Serial.println("dropping 7");
            stepper7.moveTo(6900);
            stepper7.setSpeed(1000);
        }
if(command.equals("drop8")||command. equals("Drop8")||command.equals("drop 8")||command.equals("Drop 8")){
            Serial.println("dropping 8");
            stepper8.moveTo(6900);
            stepper8.setSpeed(1000);
        }
if(command.equals("drop9")||command. equals("Drop9")||command.equals("drop 9")||command.equals("Drop 9")){
            Serial.println("dropping 9");
            stepper9.moveTo(6900);
            stepper9.setSpeed(1000);
        }
if(command.equals("drop10")||command. equals("Drop10")||command.equals("drop 10")||command.equals("Drop 10")){
            Serial.println("dropping 10");
            stepper10.moveTo(6900);
            stepper10.setSpeed(1000);
        }
if(command.equals("pickup")||command. equals("Pickup")||command.equals("pick up")||command.equals("Pick up")){
Serial.println("picking up");
  stepper1.moveTo(0);
  stepper1.setSpeed(-1000);
  stepper2.moveTo(0);
  stepper2.setSpeed(-1000);
  stepper3.moveTo(0);
  stepper3.setSpeed(-1000);
  stepper4.moveTo(0);
  stepper4.setSpeed(-1000);
  stepper5.moveTo(0);
  stepper5.setSpeed(-1000);
  stepper6.moveTo(0);
  stepper6.setSpeed(-1000);
  stepper7.moveTo(0);
  stepper7.setSpeed(-1000);
  stepper8.moveTo(0);
  stepper8.setSpeed(-1000);
  stepper9.moveTo(0);
  stepper9.setSpeed(-1000);
  stepper10.moveTo(0);
  stepper10.setSpeed(-1000);

}
 }
//checks too see if motors moved correct distance if so stops them
          if (stepper1.distanceToGo() == 0) {
            stepper1.setSpeed(0);
}
if (stepper2.distanceToGo() == 0) {
  stepper2.setSpeed(0);
}
if (stepper3.distanceToGo() == 0) {
  stepper3.setSpeed(0);
}
if (stepper4.distanceToGo() == 0) {
  stepper4.setSpeed(0);
}
if (stepper5.distanceToGo() == 0) {
  stepper5.setSpeed(0);
}
if (stepper6.distanceToGo() == 0) {
  stepper6.setSpeed(0);
}
if (stepper7.distanceToGo() == 0) {
  stepper7.setSpeed(0);
}
if (stepper8.distanceToGo() == 0) {
  stepper8.setSpeed(0);
}
if (stepper9.distanceToGo() == 0) {
  stepper9.setSpeed(0);
}
if (stepper10.distanceToGo() == 0) {
  stepper10.setSpeed(0);
}
//run motor at set speed until set position
stepper1.runSpeed();  
stepper2.runSpeed();
stepper3.runSpeed();
stepper4.runSpeed(); 
stepper5.runSpeed(); 
stepper6.runSpeed();
stepper7.runSpeed();  
stepper8.runSpeed();
stepper9.runSpeed();
stepper10.runSpeed(); 
}