#include <AccelStepper.h>

// Konfigurasi pin untuk driver A4988
#define STEP_PIN 2
#define DIR_PIN 3
#define ENABLE_PIN 4

// Konfigurasi pin untuk rotary encoder
#define ENCODER_PIN_A 5
#define ENCODER_PIN_B 6

AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);

int lastEncoderValue = 0;

void setup() {
  pinMode(ENABLE_PIN, OUTPUT);
  digitalWrite(ENABLE_PIN, LOW); // Aktifkan driver

  pinMode(ENCODER_PIN_A, INPUT_PULLUP);
  pinMode(ENCODER_PIN_B, INPUT_PULLUP);

  stepper.setMaxSpeed(1000); // Atur kecepatan maksimum stepper motor
  stepper.setAcceleration(500); // Atur percepatan stepper motor
}

void loop() {
  int encoderValue = readEncoder();
  
  if (encoderValue > lastEncoderValue) {
    stepper.move(10); // Atur langkah yang ingin ditempuh ke depan
  } else if (encoderValue < lastEncoderValue) {
    stepper.move(-10); // Atur langkah yang ingin ditempuh ke belakang
  }
  
  lastEncoderValue = encoderValue;

  stepper.run(); // Jalankan stepper motor
}

int readEncoder() {
  static int oldA = HIGH;
  static int oldB = HIGH;
  int result = 0;

  int newA = digitalRead(ENCODER_PIN_A);
  int newB = digitalRead(ENCODER_PIN_B);

  if (newA != oldA || newB != oldB) {
    if (oldA == HIGH && newA == LOW) {
      result = (oldB == HIGH) ? 1 : -1;
    }
  }

  oldA = newA;
  oldB = newB;

  return result;
}