/*
#include <AccelStepper.h>

// change pins to match your setup.  enable pin just for my CNC shield
const byte stepPin = 9;
const byte dirPin = 8;
//const byte enablePin = 12; // for CNC shield
const byte potPin = A0;  

AccelStepper stepper(AccelStepper::DRIVER, stepPin, dirPin);

void setup()
{
   Serial.begin(115200);
   //pinMode(enablePin, OUTPUT); // for CNC shield
   //digitalWrite(enablePin, LOW);  // enable stepper(s)
   stepper.setMaxSpeed(50000);
   stepper.setAcceleration(10000);
   stepper.setSpeed(0);   
}

void loop()
{
   int potValue = analogRead(potPin);
   stepper.runToNewPosition(map(potValue, 0 ,1023, -1000, 1000));
   
   //stepper.runSpeed();
}
*/

#include <AccelStepper.h>

// Pin Definition
#define stepPin 9
#define dirPin 8
#define enablePin 5

// Motor Steps per Revolution (1.8 degrees per step)
#define STEPS_PER_REVOLUTION 3200

// Create an instance of AccelStepper
AccelStepper stepper(AccelStepper::DRIVER, stepPin, dirPin);

void setup() {
  // Set the enable pin as output and enable the motor
  pinMode(enablePin, OUTPUT);
  digitalWrite(enablePin, LOW); // LOW to enable the motor
  
  // Set maximum speed and acceleration
  stepper.setMaxSpeed(1000);
  stepper.setAcceleration(100);

  // Initialize serial communication
  Serial.begin(9600);
  Serial.println("Enter commands in the format: ACC:XXX, SPD:XXX, POS:XXX, STP:XXX");
}

void loop() {
  if (Serial.available() > 0) {
    String input = Serial.readStringUntil('\n');
    input.trim(); // Remove any extra whitespace or newline characters

    if (input.startsWith("ACC:")) {
      int acceleration = input.substring(4).toInt();
      stepper.setAcceleration(acceleration);
      Serial.print("Acceleration set to: ");
      Serial.println(acceleration);
    }
    else if (input.startsWith("SPD:")) {
      int speed = input.substring(4).toInt();
      stepper.setMaxSpeed(speed);
      Serial.print("Speed set to: ");
      Serial.println(speed);
    }
    else if (input.startsWith("POS:")) {
      int positionDegrees = input.substring(4).toInt();
      int targetPosition = (positionDegrees * STEPS_PER_REVOLUTION) / 360; // Convert degrees to steps
      stepper.moveTo(targetPosition);
      Serial.print("Moving to position: ");
      Serial.print(positionDegrees);
      Serial.println(" degrees");
    }
    else if (input.startsWith("STP:")) {
      int steps = input.substring(4).toInt();
      stepper.move(steps);
      Serial.print("Moving by steps: ");
      Serial.println(steps);
    }
    else {
      Serial.println("Invalid command. Use ACC:XXX, SPD:XXX, POS:XXX, STP:XXX");
    }
  }

  stepper.run(); // Non-blocking motor control
}