/*  Example for MobaTools
    Moving a stepper back and forth with limit switches
    Based on https://github.com/MicroBahner/MobaTools/tree/master/examples/_Stepper/back_ForthStepperPause
    Modified to add simulated limit switches, with sim outputs on 10 & 11
    feeding limit switches on 3 & 4 

    Wokwi simulation at https://wokwi.com/projects/362218133861312513
    Wokwi wiring based on https://wokwi.com/projects/327823888123691604 sin
For https://forum.arduino.cc/t/how-to-read-temperature-values-while-the-stepper-motor-is-moving-non-blocking/1115846/11    
*/


#include <MobaTools.h> // https://github.com/MicroBahner/MobaTools

// Adjust pins, steps and time as needed
const byte stepPin = 9;
const byte dirPin  = 8;
const byte lowLimitPin = 3; // low limit switch Normally closed, 
const byte highLimitPin = 4; // low limit switch
const byte LED_LOW = 10; // low limit switch triggered by Sim
const byte LED_HIGH = 11; // high limit switch triggered by Sim

const int stepsPerRev = 200;   // Steps per Revolution ( example with 1/4 microsteps )
long  targetPos = 200;         // stepper moves between 0 and targetpos
long  targetPosLow = 0;         // stepper moves between 0 and targetpos
long nextPos;


MoToStepper myStepper ( stepsPerRev, STEPDIR );
MoToTimer pause;                    // Pause between stepper moves
bool stepperRunning;

int limitHigh = HIGH ;  // Normally closed, pullup
int limitLow = HIGH ;  // Normally closed, pullup



void setup() {
  myStepper.attach( stepPin, dirPin );
  myStepper.setSpeed( 60 );  // 60 Rev/Min
  myStepper.setRampLen( 5 );
  stepperRunning = true;
  pinMode(LED_LOW,OUTPUT);
  pinMode(LED_HIGH,OUTPUT);
  pinMode(lowLimitPin,INPUT);
  pinMode(highLimitPin,INPUT);
  Serial.begin(115200);
}

void loop() {
  if ( stepperRunning ) {
    // Wait till stepper has reached target, then set pause time
    if ( !myStepper.moving() ) {
      // stepper has reached target, start pause
      pause.setTime( 1 );
      stepperRunning = false;
    } else { // stepper moving
       if (digitalRead(highLimitPin) == HIGH && digitalRead(dirPin)==HIGH ){
          targetPos = min(targetPos,myStepper.currentPosition()); // update high target
          myStepper.writeSteps(targetPosLow);
       } else if (digitalRead(lowLimitPin) == HIGH && digitalRead(dirPin)==LOW ) {
         targetPosLow = max(targetPosLow,myStepper.currentPosition()); // update high target
         myStepper.writeSteps(targetPos);
       }
    }
  } else {
    // stepper doesn't move, wait till pause time expires
    if ( pause.expired() ) {
      // pause time expired. Start stepper in opposite direction
      if ( nextPos == 0 ) {
        nextPos = targetPos;
      } else {
        nextPos = 0;
      }
      myStepper.moveTo( nextPos );
      stepperRunning = true;
    }
  }

  simLimitSwitches();
  report();
  // The sketch is not blocked while the stepper is moving nor while it is stopped.
  // Other nonblocking  tasks can be added here
}

void simLimitSwitches(void){
  limitHigh = myStepper.currentPosition() > 150 ? LOW : HIGH ;
  limitLow = myStepper.currentPosition() < 50 ? LOW : HIGH ;
  digitalWrite(LED_LOW,limitLow == LOW);
  digitalWrite(LED_HIGH,limitHigh == LOW);
}

void report(void){
  uint32_t interval = 250;
  static uint32_t last = - interval;
  if(millis() - last < interval) return;
  last += interval;
  Serial.print("Speed:");
  Serial.print(myStepper.getSpeedSteps());
  Serial.print(" Pos:");
  Serial.print(myStepper.currentPosition());
  Serial.print(" stepsToGo:");
  Serial.print(myStepper.stepsToDo());
  Serial.print(" dirPin:");
  Serial.print(digitalRead(dirPin));
  Serial.print(" Speed:");
  Serial.print(((long)myStepper.getSpeedSteps())*(digitalRead(dirPin)?1:-1));
  Serial.println();
   
}