#include        "AccelStepper.h"
#define XSTEP   15
#define XDIR    4
#define DRIVER  1

#define FWD     2
#define REV     1
#define STOP    0

AccelStepper stepper(DRIVER, XSTEP, XDIR);

struct STRUCT1 {
  byte xData = STOP;
} xTX;

struct STRUCT2 {
  byte xData = STOP;
} xRX;

byte xState = 0, lastTXxState = 0, lastRXxState = 0;
bool move = false; 

void setup(){
  Serial.begin(115200);
  stepper.setMaxSpeed(1000);
  stepper.setAcceleration(30);
  stepper.setSpeed(50);
  stepper.stop();
}	

void loop() {
  int val  = analogRead(34);                //Transmitter Logic
  int xAxis = map(val, 0, 4095, -100, 100);

  if(xAxis < 0 || xAxis > 0){               //Creates State from Joystick Input
    if(xAxis > 0){
      xState = FWD;
    }else if(xAxis < 0){
      xState = REV;
    }
  }else{
    xState = STOP;
  }

  
 if(xState != lastTXxState){              //This makes the async TX data flow
     xTX.xData = xState;                  //Cast the changed state to the TX callback
     xRX.xData = xTX.xData;               //This is an imaginary WiFi Link
     char x_buf[20];                      //Ignor the inverse logic it seems to be a bug
     String ss = "";
     if(xState == FWD){
       ss = "X_REV";
     }else if(xState == REV){
       ss = "X_FWD";
     }else{
       ss = "X_STOP";
     }
     sprintf(x_buf,"Sending %s", ss);
     Serial.println(x_buf);               //Only prints when packet is sent
  }                                       //End Transmitter Logic

/*                                        RX Logic Begins  */
  if(lastRXxState != xRX.xData){         //Won't hurt but may not be needed ????
    char x_buf[20];
    String ss = "";                     
    if(xRX.xData == FWD){               //Receiver Motion Logic
      stepper.setSpeed(50);
      move = true;
    }else if(xRX.xData == REV){
      stepper.setSpeed(-50);
      move = true;
    }else if(xRX.xData == STOP){
      move = false;
      stepper.stop();
    }
    if(xRX.xData == REV){                  //Ignor the inverse logic it seems to be a bug
      ss = "X_FWD";
    }else if(xRX.xData == FWD){
      ss = "X_REV";
    }else{
      ss = "X_STOP";
    }
    sprintf(x_buf,"%s Received\n", ss);
    Serial.println(x_buf);               //Only prints when packet is reveived
  }
  if(move){
      stepper.runSpeed();
  }                                     //End Receiver Logic
  lastTXxState = xState;                //For State engine of TX Logic
  lastRXxState = xRX.xData;             //For State engine of RX Logic
}