// // Include the AccelStepper library:
// #include <AccelStepper.h>

// // Define stepper motor connections and motor interface type.
// // Motor interface type must be set to 1 when using a driver
// #define dirPin 2
// #define stepPin 3
// #define motorInterfaceType 1

// // Create a new instance of the AccelStepper class:
// AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);

// void setup() {
//   pinMode(8, INPUT_PULLUP);
//   Serial.begin(9600);
//   // Set the maximum speed in steps per second:
//   stepper.setMaxSpeed(1000);
  
//   stepper.setAcceleration(100.0);
//   Serial.println(digitalRead(8));
//   while (digitalRead(8)) {
//     stepper.setSpeed(-200);
//     stepper.runSpeed();
//   }
// }

// void loop() {
//   // while (digitalRead(8)) {
//     stepper.setSpeed(200);
//     stepper.runSpeed();
//   // }
//   // Set the speed in steps per second:
//   // stepper.setSpeed(400);
//   // // Step the motor with a constant speed as set by setSpeed():
//   // stepper.runSpeed();
// }
#include <AccelStepper.h>

// Define stepper motor connections and motor interface type.
// Motor interface type must be set to 1 when using a driver
#define dirPin 5
#define stepPin 6
#define motorInterfaceType 1

// Create a new instance of the AccelStepper class:
AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);


// Define the pins for the rotary encoder
#define ENCODER_PIN_A 2
#define ENCODER_PIN_B 3
// Variables to track encoder state
// Variables to track encoder state
int lastStateA;
int lastStateB;

void setup() {
  Serial.begin(9600);
  // Set up the stepper motor
  stepper.setMaxSpeed(1000); // Adjust as needed
  stepper.setAcceleration(500); // Adjust as needed
  stepper.setCurrentPosition(0);

  
  // Initialize the last state of encoder pins
  lastStateA = digitalRead(ENCODER_PIN_A);
  lastStateB = digitalRead(ENCODER_PIN_B);
}

void loop() {
  // Read the current state of encoder pins
  int currentStateA = digitalRead(ENCODER_PIN_A);
  int currentStateB = digitalRead(ENCODER_PIN_B);

  // Check for changes in encoder state
  if (currentStateA != lastStateA || currentStateB != lastStateB) {
    // Determine the direction of rotation
    if (currentStateA != lastStateA) {
      int direction = (currentStateA == currentStateB) ? 1 : -1;
      Serial.println(direction);
      // Move the stepper motor one step in the appropriate direction
      stepper.move(direction);
      stepper.runToPosition();
    }

    // Update the last state of encoder pins
    lastStateA = currentStateA;
    lastStateB = currentStateB;
  }
}