// By NMDWeerasinghe @COTMD
// run the stepper motor, given no steps, with given speed and given direction


#define stepPin 2
#define directionPin 3
#define halfStepInterval 20 //inversly related to speed
#define directionInPin 10
#define startPin 9
#define busytPin 4

int halfStepdelay;
int noOfSteps;
int speed;
int prvSpeed;
int prvNoOfSteps;
bool start;
bool clockwise;
bool prvDirection;
bool msgPrint = false;
//bool busy;


void Rotate(int steps, bool Clockwise);

void setup() {
  pinMode(stepPin, OUTPUT);
  pinMode(directionPin, OUTPUT);
  pinMode(directionInPin, INPUT);
  pinMode(startPin, INPUT);
 
  halfStepdelay = halfStepInterval;
  //busy = false;
  Serial.begin(9600);

/*
  Serial.println("Test run  started !");
  digitalWrite(busytPin,HIGH);
  delay(500);
  Rotate(100, 1);
  digitalWrite(busytPin,HIGH);
  delay(1500);
  Rotate(100, 0);
  Serial.println("Test run  finished !");

*/
  prvNoOfSteps = -1; //analogRead(A0) ;
  prvSpeed = -1;//analogRead(A0);
  prvDirection = -1;//digitalRead(directionInPin);


}

void loop() {

  noOfSteps = analogRead(A0) ;
  speed = analogRead(A1);
  halfStepdelay = map(speed,0,1023,150,4) ;
  clockwise = digitalRead(directionInPin);
  start = digitalRead(startPin);

    if(prvNoOfSteps != noOfSteps)
    {
        prvNoOfSteps = noOfSteps;
       /* 
        Serial.print("No of steps to rotate : ");
        Serial.println(noOfSteps);
        delay(350); 
        */
        msgPrint = false;
    }

    if(prvSpeed != speed)
    {
        prvSpeed = speed;
        /*
        Serial.print("Speed : ");
        Serial.println(map(speed,0,1023,0,100));
        delay(350);
        */
        msgPrint = false;
    }

    if(prvDirection != clockwise)
    {
        prvDirection = clockwise;
        /*
        Serial.print("Direction : ");
        if(clockwise) Serial.println("clockwise");
        else Serial.println("anticlockwise");
        delay(350);
        */
        msgPrint = false;
    }

    if(start)
    {
     Rotate(noOfSteps, clockwise);
     msgPrint = false;
    }
    else if(not msgPrint)
    {
      Serial.println("Adjust No of Steps, Speed, direction and Press Start button to begin");
        Serial.print("No of steps to rotate : ");
        Serial.print(noOfSteps);

        Serial.print(" , ");
        Serial.print("Speed : ");
        Serial.print(map(speed,0,1023,0,100));

        Serial.print(" , ");
        Serial.print("Direction : ");
        if(clockwise) Serial.println("clockwise");
        else Serial.println("anticlockwise");
        Serial.println();
        Serial.println();
        delay(350);

      msgPrint = true;
    }




}

void Rotate(int noOfSteps, bool Clockwise)
{
   digitalWrite(directionPin,Clockwise);
   digitalWrite(busytPin,HIGH);
  for(int i=0; i<noOfSteps ; i++)
  {
      digitalWrite(stepPin,HIGH);
      delay(halfStepdelay);
      digitalWrite(stepPin,LOW);
      delay(halfStepdelay);
  }
  digitalWrite(busytPin,LOW);
}