#include <AccelStepper.h>

#define STEP_PIN 2          // Step pin for the stepper motor driver
#define DIR_PIN 3           // Direction pin for the stepper motor driver
#define ENABLE_PIN 4        // Enable pin for the stepper motor driver
#define speedPot A0         // Potentiometer analog input pin
#define directionButton 5   // Direction button pin
#define onOffButton 6       // On/Off button pin
#define leftLimitSwitch 7   // Left limit switch pin
#define rightLimitSwitch 8  // Right limit switch pin



AccelStepper stepper(1, STEP_PIN, DIR_PIN);  // 1 = A4988 driver
bool direction = false;                      // Initial direction set it to true to change direction
bool runMotor = true;                        // flag to check if user
unsigned long pressTime = 0; // Variable to hold button press time
bool buttonPress = false;// Flag to check if button was pressed or not
int dir = -1;  // initial direction set it to 1, -1
long StepperPos = 0; //added STKO!!

unsigned long dirButtonTime = millis();


void setup() {
  Serial.begin(9600);
  pinMode(ENABLE_PIN, OUTPUT);
  digitalWrite(ENABLE_PIN, LOW);  // Disable the stepper initially
  pinMode(directionButton, INPUT_PULLUP);
  pinMode(onOffButton, INPUT_PULLUP);
  pinMode(leftLimitSwitch, INPUT_PULLUP);
  pinMode(rightLimitSwitch, INPUT_PULLUP);
  stepper.setMaxSpeed(1000);     // Set your desired max speed
  stepper.setAcceleration(50);  // Set your desired acceleration
}

void loop() {
  while (digitalRead(onOffButton) == LOW) {
    digitalWrite(ENABLE_PIN, LOW);  // Enable the stepper

    int potValue = analogRead(speedPot);
    int speed = map(potValue, 0, 1023, 0, 1000);  // Map potentiometer value to speed range

    // Check direction button
   /*if (digitalRead(directionButton) == LOW) {  //if (digitalRead(directionButton) == LOW) { 
      if ((millis() - dirButtonTime) > 500) {  // Debounce button press effect
        dir *= -1;                             // change direction
        dirButtonTime = millis();
      }
    }
    */

      //ADDED STKO BEGIN 
    
    if (dir == -1) //if (dir == -1 && dtValue == HIGH)
      {
      Serial.println("Rotated clockwise");
      stepper.runToNewPosition(-500);
      //speed = speed + 50;
      //Nema17.setSpeed(speed);








      dir *=-1;                                                    
      }
    if (dir == 1) // if (dir == 1 && dtValue == LOW)
      {
      Serial.println("Rotated counterclockwise");
      stepper.runToNewPosition(500);
      //speed = speed - 50;
      //Nema17.setSpeed(speed);
      dir *=-1;  
      }
    


      //ADD STKO END 
    




    stepper.setSpeed(speed * dir);


    // Check limit switches and prevent movement in the pressed direction
    if ((digitalRead(leftLimitSwitch) == LOW) && (buttonPress == false)) {
      Serial.println(leftLimitSwitch);
 
      dir *= -1;  // change direction
      buttonPress = true; // Set button press flag
      pressTime = millis(); // Note current press time
       delay(1000);
       stepper.move(500);
    }

    if ((digitalRead(rightLimitSwitch) == LOW) && (buttonPress == false)) {
      Serial.println(rightLimitSwitch);
      dir *= -1; // change direction
      buttonPress = true; // Set button press flag
      pressTime = millis(); // Note current press time
       delay(1000);
      stepper.move(-500);
    }

    if (((millis() - pressTime) > 1000) && (buttonPress)) {
      buttonPress = false; // Reset button press flag
    }
    stepper.run();
  }
  digitalWrite(ENABLE_PIN, HIGH);  // Enable the stepper
}