#include <AccelStepper.h>

// Define the connections between the motor and the A4988 driver
#define dirPinNut 0
#define stepPinNut 1
#define dirPinBolt 2
#define stepPinBolt 3

// Define the number of steps per revolution for the motor
#define stepsPerRevolution 24

// Define motor interface type
#define motorInterfaceType 1

// Create an instance of the AccelStepper class
AccelStepper stepperNut(motorInterfaceType, stepPinNut, dirPinNut);
AccelStepper stepperBolt(motorInterfaceType, stepPinBolt, dirPinBolt);

void setup() {
  // Set the speed and acceleration of the motor
  stepperNut.setMaxSpeed(1000);
  stepperNut.setAcceleration(100);
  stepperBolt.setMaxSpeed(1000);
  stepperBolt.setAcceleration(100);

  // Set the initial position of the motor to 0
  stepperNut.setCurrentPosition(0);
  stepperBolt.setCurrentPosition(0);

  // Setup limit switch
  pinMode(4,INPUT); // Setup for nut feeding system
  pinMode(8,INPUT); // Setup for bolt feeding system
}

void loop() {
  // Ensure the actuator is in home position
  if (digitalRead(4) == LOW) {
    stepperNut.runToNewPosition(0);
  }
  // Rotate the motor clockwise to push up three nuts sequentially
  stepperNut.runToNewPosition(576-96*2);
  // Wait for the next cycle
  delay(1000);
  stepperNut.runToNewPosition(576-96);
  delay(1000);
  stepperNut.runToNewPosition(576);
  delay(1000);

  // Ensure the actuator is in home position
  if (digitalRead(8) == LOW) {
    stepperBolt.runToNewPosition(0);
  }
  // Rotate the motor clockwise to push up three bolts sequentially
  stepperBolt.runToNewPosition(748-295*2);
  delay(1000);
  stepperBolt.runToNewPosition(748-295);
  delay(1000);
  stepperBolt.runToNewPosition(748);
  delay(1000);

  // Rotate the motor anticlockwise to fully retract the linear actuator
  stepperNut.runToNewPosition(0);
  stepperBolt.runToNewPosition(0);

  // Pause for 10 seconds
  delay(10000);
}