/*
  Stepper Motor Test
  stepper-test01.ino
  Uses MA860H or similar Stepper Driver Unit
  Has speed control & reverse switch
  
  DroneBot Workshop 2019
  https://dronebotworkshop.com
*/
 
// Defin pins
 
int SW_L = 2;  // Push button for reverse
int SW_R = 3;
int PUL = 5;    // PUL- pin
int DIR = 4;    // DIR- pin
int Relay = 11;
int spd = A0;     // Potentiometer
 
// Variables
 
int pd = 500;       // Pulse Delay period
int rt = 1000;
boolean setdir_R = LOW; // Set Direction
boolean setdir_L = HIGH;
 
// Interrupt 
 
void revers()
{
   setdir_R = !setdir_R;
}
 
void forward()
{
  setdir_L = !setdir_L;
}
 
void setup() {
 
  pinMode(PUL, OUTPUT);
  pinMode(DIR, OUTPUT);
  pinMode(Relay, OUTPUT);
  attachInterrupt(digitalPinToInterrupt(SW_L), revers, HIGH);
  attachInterrupt(digitalPinToInterrupt(SW_R), forward, HIGH);
  digitalWrite(Relay, LOW);
  
}

void left()
{
   
  if(digitalRead(SW_L) == 0)
  {
    pd = map((analogRead(spd)),0,1023,2000,50);
    digitalWrite(Relay, HIGH);
    delayMicroseconds(rt);
    digitalWrite(DIR, setdir_L);
    digitalWrite(PUL, HIGH);
    delayMicroseconds(pd);
    digitalWrite(PUL, LOW);
    delayMicroseconds(pd);
  }
  if(digitalRead(SW_L) != 0)
  {
    delayMicroseconds(rt);
    digitalWrite(Relay, LOW);
  }
}

void right()
{
   
  if(digitalRead(SW_R) == 0)
  {
    pd = map((analogRead(spd)),0,1023,2000,50);
    digitalWrite(Relay, HIGH);
    delayMicroseconds(rt);
    digitalWrite(DIR, setdir_R);
    digitalWrite(PUL, HIGH);
    delayMicroseconds(pd);
    digitalWrite(PUL, LOW);
    delayMicroseconds(pd);
  }
  if(digitalRead(SW_R) != 0)
  {
    delayMicroseconds(rt);
    digitalWrite(Relay, LOW);
  }
}
 
void loop() 
{
  
    left(); 
    right();  
  
 
}