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


int i_FOREWARD_STEP=1600;//前进到多少位置并返回

// setting PWM properties
const uint8_t MAX_freq_PWM = 500;//设置最高频率，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

uint8_t N_freq_PWM=MAX_freq_PWM/5;
unsigned long STEP=0;

void IRAM_ATTR isr() {
  //下降沿触发中断
  if(digitalRead(DIR_PIN)==HIGH){
    STEP++;
    if(N_freq_PWM<MAX_freq_PWM){
      if(STEP%10==0){
        if(STEP<100){
          N_freq_PWM++;
          ledcWriteTone(channel_PWM,N_freq_PWM++);
        }
        else{
          N_freq_PWM=MAX_freq_PWM;
          ledcWriteTone(channel_PWM,N_freq_PWM++);
        }
      }
    }
  }
  else{
    STEP--;
    if(N_freq_PWM<MAX_freq_PWM){
      if(STEP%10==0){
        if(i_FOREWARD_STEP-STEP<100){
          N_freq_PWM++;
          ledcWriteTone(channel_PWM,N_freq_PWM++);
        }
        else{
          N_freq_PWM=MAX_freq_PWM;
          ledcWriteTone(channel_PWM,N_freq_PWM++);
        }
      }
    }
  }
}

void task1(void *pt) {
  Serial.println("RUN");
  digitalWrite(DIR_PIN, HIGH);//正转
  N_freq_PWM=MAX_freq_PWM/5;
  ledcWriteTone(channel_PWM,N_freq_PWM);
  Serial.println(ledcReadFreq(channel_PWM));
  while (STEP<i_FOREWARD_STEP){//到位
    vTaskDelay(5);
  }
  N_freq_PWM=MAX_freq_PWM/5;
  digitalWrite(DIR_PIN, LOW);//反转
  while (STEP>0){//回位
    vTaskDelay(5);
  }
  Serial.println("STOP");
  ledcWriteTone(channel_PWM,0);
  vTaskDelete(NULL);  //删除自身函数
}


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, MAX_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){
      xTaskCreate(task1,
                  "task1",
                  1024,
                  NULL,
                  1,
                  NULL);
    }
  }
  delay(10);
}