#include <TimerOne.h>

const int potPin = A0;
const int pwmPin = 9;

int maxSpeed= 1000; //RPM
int minSpeed = 10; //RPM
int Acceleration = 100; // RPM/s
int SteppsPerRound = 800;

//Initialisierung globaler Werte
int currentPeriod = minSpeed;

// Min- und Max-PWM-Frequenz berechnen
  /* PWM-Pin = 9 (pwmPin)
    duty-cyclet= 50% (512 von 0-1023) 
    period: F=1/T -> T=1/F; 800 steps/Round, 3000 round/min --> (800*3000)/60= 40kHz
                      => T=1/40kHz= 25 micros
  */
  float maxSpeedS=maxSpeed/1000.0;
  float SteppsPerRoundS=SteppsPerRound/1000.0;
  float maxPeriodF = (1.0/((maxSpeedS*SteppsPerRoundS)/60.0));
  int maxPeriod = round(maxPeriodF);

  float minSpeedS=minSpeed/1000.0;
  float minPeriodF = (1.0/((minSpeedS*SteppsPerRoundS)/60.0));
int minPeriod = round(minPeriodF);


void setup() {

  pinMode(pwmPin, OUTPUT);
  Timer1.initialize(1000000/8); // Initialisiere TimerOne-Bibliothek; Abtastrate: 1/8 sekunde
  
  Serial.begin(25000);
  //Serial.println(maxPeriod);
}

void loop() {

  // Potentiometerwert einlesen
  int PotValue = analogRead(potPin);

  int targetPeriod = map(PotValue, 0, 1023, minPeriod^2, maxPeriod^2);

  //Serial.println(period);
  
  if(PotValue < 5){
    digitalWrite(pwmPin, HIGH);
  }

  else {

    int needetSteps = ceil((targetPeriod - currentPeriod)/Acceleration);

    if (needetSteps > 0){
      for (int i=0; i<needetSteps; i++){
        int start =micros();
        int newPeriod = currentPeriod + Acceleration;
        Timer1.pwm(pwmPin, 512, newPeriod); 
        currentPeriod = newPeriod;
        int time = micros() - start;
        Serial.println(time);
        delay(40);
      }
    }
    else if (needetSteps < 0){
        for (int i=0; i>needetSteps; i--){

        int newPeriod = targetPeriod - Acceleration;
        Timer1.pwm(pwmPin, 512, newPeriod); 
        currentPeriod = newPeriod;
        delay(40); //Delay der Funktion etwa 50 Mikrosek
      }
    }
    else{

     Timer1.pwm(pwmPin, 512, currentPeriod); 
     delay(40); // Kleine Verzögerung für Stabilität

    }
  }

  //Timer1.pwm(pwmPin, 512, targetPeriod); 

  //delay(100); // Kleine Verzögerung für Stabilität
  
}