#include <AccelStepper.h>

// Define the number of steps per revolution for your stepper motor
const int stepsPerRevolution = 20;

// Joystick input pins
const int joystickXPin = A0;  // Joystick X-axis input
const int joystickYPin = A1;  // Joystick Y-axis input

// Motor driver pins
const int motorStepPin = 2;   // Step pin of the motor driver
const int motorDirPin = 3;    // Direction pin of the motor driver

// Create an instance of the AccelStepper class
AccelStepper stepper(AccelStepper::DRIVER, motorStepPin, motorDirPin);

void setup() {
  // Set the maximum speed and acceleration of the stepper motor
  stepper.setMaxSpeed(1000);
  stepper.setAcceleration(500);

  // Initialize the joystick position
  int joystickX = analogRead(joystickXPin);
  int joystickY = analogRead(joystickYPin);
}

void loop() {
  // Read the joystick input values
  int joystickX = analogRead(joystickXPin);
  int joystickY = analogRead(joystickYPin);

  // Map the joystick input values to the motor speed and direction
  int motorSpeed = map(joystickY, 0, 1023, 0, 1000);
  int motorDirection = (joystickX < 512) ? -1 : 1;

  // Set the motor speed and direction
  stepper.setSpeed(motorSpeed);
  stepper.setAcceleration(motorSpeed * 2); // Optional: Adjust acceleration based on speed
  stepper.move(motorDirection * stepsPerRevolution);

  // Update the stepper motor position
  stepper.run();

  // Delay for stability
  delay(10);
}