#define STEP_PIN 26
#define DIR_PIN 27
#define BUTTON_PIN 33


int i_FOREWARD_STEP=1600;//正转到多少位置(脉冲)
int i_REVERSE_STEP=0;//正转到多少位置(脉冲)

// setting PWM properties
const uint8_t freq_PWM = 1000000;//设置频率，控制速度
const uint8_t channel_PWM = 0;//通道号，取值0 ~ 15
const uint8_t resolution_PWM = 10;//PWM分辨率，取值0 ~ 20

unsigned long STEP=0;

void IRAM_ATTR isr() {
  //下降沿触发中断
  if(digitalRead(DIR_PIN)==HIGH){
    STEP++;
    if(STEP>=i_FOREWARD_STEP){//到位
      digitalWrite(DIR_PIN, LOW);//反转
    }
  }
  else{
    STEP--;
    if(STEP<=0){//到位
      ledcWriteTone(channel_PWM, 0);//停止
    }
  }
}


void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println("Hello, ESP32!");
  pinMode(BUTTON_PIN, INPUT_PULLUP);
  pinMode(DIR_PIN, OUTPUT);
  ledcSetup(channel_PWM, freq_PWM, resolution_PWM); // 设置通道
  ledcAttachPin(STEP_PIN, channel_PWM);  //将 LEDC 通道绑定到指定 IO 口上以实现输出
  attachInterrupt(digitalPinToInterrupt(STEP_PIN), isr, FALLING);
}

void loop() {
  // put your main code here, to run repeatedly:
  if(digitalRead(BUTTON_PIN)==LOW){
    delay(100);
    if (digitalRead(BUTTON_PIN)==LOW){
      Serial.println("RUN");
      digitalWrite(DIR_PIN, HIGH);//正转
      ledcWriteTone(channel_PWM, freq_PWM);
    }
  }
  delay(10);
}