#include <ESP_FlexyStepper.h>

// IO pin assignments
const int MOTOR_STEP_PIN = 26;
const int MOTOR_DIRECTION_PIN = 27;
const int START_BUTTON=33;
//const int EMERGENCY_STOP_PIN = 13; //急停
//const int LIMIT_SWITCH_PIN = 32;   //行程开关

// 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 = 800;
const int DECELERATION_IN_STEPS_PER_SECOND = 800;

// create the stepper motor object
ESP_FlexyStepper stepper;

int previousDirection = 1;

void setup()
{
  Serial.begin(115200);
  // 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 regularly so you can do whatever you want in the loop function
  stepper.startAsService(1);

  pinMode(START_BUTTON, INPUT_PULLUP);
}

void loop()
{

  if (digitalRead(START_BUTTON)==LOW){
    delay(50);
    if (digitalRead(START_BUTTON)==LOW){
      if(stepper.motionComplete()==true){
        stepper.setTargetPositionRelativeInSteps(100);//正走100步
        stepper.setTargetPositionRelativeInSteps(-50);//反走50步

      }
      else{
        stepper.setCurrentPositionAsHomeAndStop();
      }
      
    }

  }

}