#include <Stepper.h>

const int S = 3;
const int R = 2;
const int L = 4;
const int speed = A0;

bool start = false;
bool clockwise = true;

int currLeft = LOW, lastLeft = LOW;
int currRight = LOW, lastRight = LOW;
int currStart = LOW, lastStart = LOW;

const int stepsPerRevolution = 200;
Stepper myStepper(stepsPerRevolution, 10, 11, 12, 13);

int Debouncer(int last, int button){
  int current = digitalRead(button);
  if(last != current){
    delay(5);
    current = digitalRead(button);
  }
  return current;
}

void StartStop(){
  currStart = Debouncer(lastStart, S);
  if(lastStart == HIGH && currStart == LOW){
    if(start){
      Serial.println("Start");
    }
    else{
      Serial.println("Stop");
    }    
    start = !start;
  }
  lastStart = currStart;
}

void Left(){
  currLeft = Debouncer(lastLeft, L);
  if(lastLeft == HIGH && currLeft == LOW){
    clockwise = false;
  }
  lastLeft = currLeft;  
}

void Right(){
  currRight = Debouncer(lastRight, R);
  if(lastRight == HIGH && currRight == LOW){
    clockwise = true;
  }
  lastRight = currRight;  
}

int TurnSide(){
  if(clockwise){
    return 1;
  }
  else if(!clockwise){
    return -1;
  }
  return 0;
}

void setup() {
  Serial.begin(9600);

  pinMode(S, INPUT);
  digitalWrite(S, HIGH);

  pinMode(L, INPUT);
  digitalWrite(L, HIGH);

  pinMode(R, INPUT);
  digitalWrite(R, HIGH);  
}

void loop()
{
  int sensor = analogRead(A0);
  int motorSpeed = map(sensor, 0, 1023, 0, 100);

  StartStop();
  Right();
  Left();

  if (motorSpeed > 0 && start)
  {
    myStepper.setSpeed(motorSpeed);
    myStepper.step(stepsPerRevolution / 100 * TurnSide());
  }
}