#include "AccelStepper.h"

AccelStepper stepperX(1, 2, 3);

#define home_switch 9

long TravelX;
long initial_homing = -1;

void setup() {
  Serial.begin(9600);
  pinMode(home_switch, INPUT_PULLUP);
  delay(5);

  stepperX.setMaxSpeed(100.0);
  stepperX.setAcceleration(100.0);

  Serial.print("Stepper is Homing . . . . . . . . . . . ");

  while (digitalRead(home_switch)) {
    stepperX.moveTo(initial_homing);
    initial_homing--;
    stepperX.run();
    delay(5);
  }

  stepperX.setCurrentPosition(0);  // Set the current position to 0 after homing
  stepperX.setMaxSpeed(100.0);
  stepperX.setAcceleration(100.0);
  initial_homing = 1;

  while (!digitalRead(home_switch)) {
    stepperX.moveTo(initial_homing);
    stepperX.run();
    initial_homing++;
    delay(5);
  }

  stepperX.setCurrentPosition(0);  // Set the current position to 0 after homing
  Serial.println("Homing Completed");
  Serial.println("");
  stepperX.setMaxSpeed(1000.0);
  stepperX.setAcceleration(1000.0);

  Serial.println("Enter Travel distance (Positive for CW / Negative for CCW and Zero for back to Home): ");
}

void loop() {
  long move_finished = 0;
  while (Serial.available() > 0) {
    String input = Serial.readStringUntil('\n');
    
    if (input.length() > 0) {
      TravelX = input.toInt();
      
      if (TravelX < 0 || TravelX > 5000) {
        Serial.println("Invalid input. Please enter a valid value.");
      } else {
        Serial.print("Moving stepper into position: ");
        Serial.println(TravelX);
        stepperX.moveTo(TravelX);
        delay(1000);
        move_finished = 1;
      }
    }
  }

  if (TravelX >= 0 && TravelX <= 5000) {
    if (stepperX.distanceToGo() != 0) {
      stepperX.run();
    }

    if (move_finished == 1 && stepperX.distanceToGo() == 0) {
      Serial.println("COMPLETED!");
      Serial.println("");
      Serial.println("Enter Travel distance (Positive for CW / Negative for CCW and Zero for back to Home): ");
    }
  }
}