#include "ESP_FlexyStepper.h"

// IO pin assignments
const int MOTOR_STEP_PIN = 15;
const int MOTOR_DIRECTION_PIN = 2;
const int EMERGENCY_STOP_PIN = 33; //define the IO pin the emergency stop switch is connected to
const int LIMIT_SWITCH_PIN = 32;   //define the IO pin where the limit switches are connected to (switches in series in normally closed setup against ground)

// Speed settings
const int DISTANCE_TO_TRAVEL_IN_STEPS = 2000;
const int SPEED_IN_STEPS_PER_SECOND = 300;
const int ACCELERATION_IN_STEPS_PER_SECOND = 10;
const int DECELERATION_IN_STEPS_PER_SECOND = 10;

// create the stepper motor object
ESP_FlexyStepper stepper;

void IRAM_ATTR onTimer() {
  // Call your function from the interrupt handler
  //ets_printf("interrupt");
  stepper.processMovement();
}


void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println("Hello, ESP32!");
	Serial.printf("Heap %d\n", ESP.getFreeHeap());


  // connect and configure the stepper motor to its IO pins
  stepper.connectToPins(MOTOR_STEP_PIN, MOTOR_DIRECTION_PIN);
  // set the speed and acceleration rates for the stepper motor
  stepper.setSpeedInStepsPerSecond(SPEED_IN_STEPS_PER_SECOND);
  stepper.setAccelerationInStepsPerSecondPerSecond(ACCELERATION_IN_STEPS_PER_SECOND);
  stepper.setDecelerationInStepsPerSecondPerSecond(DECELERATION_IN_STEPS_PER_SECOND);
  
  // Not start the stepper instance as a service in the "background" as a separate task
  // and the OS of the ESP will take care of invoking the processMovement() task regularily so you can do whatever you want in the loop function
  //stepper.startAsService();


   stepper.setTargetPositionInSteps(1000);


  //Serial.printf("myvar %d\n", myvar);
  Serial.printf("Heap %d\n", ESP.getFreeHeap());

    // Configure and start a hardware timer
  hw_timer_t *timer = NULL;
  timer = timerBegin(0, 80, true); // Timer 0, 80 prescaler, count up
  timerAttachInterrupt(timer, &onTimer, true);
  timerAlarmWrite(timer, 1 * 1000, true); // Convert interval to microseconds
  timerAlarmEnable(timer);
}



void loop() {
  // put your main code here, to run repeatedly:
  delay(10); // this speeds up the simulation
  
}