#include <AccelStepper.h>

// Define Stepper Motors
AccelStepper stepper1(AccelStepper::FULL4WIRE, 8, 9, 10, 11);  // Motor 1: Pin 8, 9, 10, 11
AccelStepper stepper2(AccelStepper::FULL4WIRE, 2, 3, 6, 7);    // Motor 2: Pin 2, 3, 6, 7

// Define LDR Pins
const int ldrPins[] = {A0, A1, A2, A3};

// Define Ultrasonic Sensor Pins
const int ultrasonicTrigPins[] = {4, 5};
const int ultrasonicEchoPins[] = {12, 13};

// Define Stop Distance
const int stopDistance = 1;  // 1 cm

// Define LDR Thresholds
const int ldrThreshold = 500;  // Adjust the threshold based on your LDR characteristics

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

  // Set up Stepper Motors
  stepper1.setMaxSpeed(1000);
  stepper1.setAcceleration(500);

  stepper2.setMaxSpeed(1000);
  stepper2.setAcceleration(500);

  // Set up Ultrasonic Sensors
  pinMode(ultrasonicTrigPins[0], OUTPUT);
  pinMode(ultrasonicEchoPins[0], INPUT);
  pinMode(ultrasonicTrigPins[1], OUTPUT);
  pinMode(ultrasonicEchoPins[1], INPUT);
}

void loop() {
  // Read values from LDR modules
  int ldrValues[4];
  for (int i = 0; i < 4; i++) {
    ldrValues[i] = analogRead(ldrPins[i]);
  }

  // Control Stepper Motor 1 based on LDR 1 and LDR 2
  int ldr2Value = ldrValues[1];
  if (ldr2Value < ldrThreshold) {
    // Move Stepper Motor 1 to the right
    stepper1.setSpeed(500);
    stepper1.runSpeed();
  } else {
    // Move Stepper Motor 1 to the left
    stepper1.setSpeed(-500);
    stepper1.runSpeed();
  }

  // Control Stepper Motor 2 based on LDR 3
  int speed2 = map(ldrValues[2], 0, 1023, 0, 500);
  stepper2.setSpeed(speed2);
  stepper2.runSpeed();

  // Read distances from Ultrasonic sensors
  int distances[2];
  for (int i = 0; i < 2; i++) {
    digitalWrite(ultrasonicTrigPins[i], LOW);
    delayMicroseconds(2);
    digitalWrite(ultrasonicTrigPins[i], HIGH);
    delayMicroseconds(10);
    digitalWrite(ultrasonicTrigPins[i], LOW);
    int duration = pulseIn(ultrasonicEchoPins[i], HIGH);
    distances[i] = duration * 0.034 / 2;
  }

  // Stop Stepper Motors if the distance is less than or equal to 1 cm
  if (distances[0] <= stopDistance || distances[1] <= stopDistance) {
    stepper1.setSpeed(0);
    stepper2.setSpeed(0);
  }

  // Display values on Serial Monitor
  Serial.print("LDR Values: ");
  for (int i = 0; i < 4; i++) {
    Serial.print(ldrValues[i]);
    Serial.print(" ");
  }
  Serial.print(" | Ultrasonic Distances: ");
  Serial.print(distances[0]);
  Serial.print(" ");
  Serial.println(distances[1]);

  delay(500);
}