//do not edit this code it self, make a copy with your name and edit that version sp we don't lose track
// ALi, 15/12/2023


#include <SD.h>
#include <AccelStepper.h>

// pin setup
const int cspin = 53;  //SPI BUS initializaion (mega 50-51-52) other (10)

//the X&Y coordinates stuff
const int numoline = 8;
float Xco[numoline] = {0};
float Yco[numoline] = {0};
int currentline = 0;

//motors pins & variables
const int stepsPerRevolution = 350;
const int xpul = 9;
const int xdir = 8;
const int ypul = 10;
const int ydir = 11;

float Xspeed = 50;
int Xacc = 100;
float Yspeed = 50;
int Yacc = 100;

AccelStepper stepperX(1, xpul, xdir);
AccelStepper stepperY(1, ypul, ydir);

//other variables
File Chalkzila;
File root;

void setup() {
  pinMode(xpul, OUTPUT);
  pinMode(xdir, OUTPUT);
  pinMode(ypul, OUTPUT);
  pinMode(ydir, OUTPUT);
  float Xspeed = 100;
  int Xacc = 1000;
  float Yspeed = 100;
  int Yacc = 1000;

  stepperX.setMaxSpeed(Xspeed);
  stepperX.setAcceleration(Xacc);
  stepperY.setMaxSpeed(Yspeed);
  stepperY.setAcceleration(Yacc);

  stepperX.moveTo(2);
  while (stepperX.distanceToGo() != 0)
  stepperX.run();
  stepperY.moveTo(0);
  while (stepperY.distanceToGo() != 0)
  stepperY.run();

  //                                              //the serial and SD stuff
  Serial.begin(9600);
  while (!Serial){};
  Serial.println("Card initialization Started!"); //starting to look for the SD
  if (!SD.begin(cspin)) {
    Serial.println("Dude, where's the SD!");
    return;}
  else Serial.println("I see your SD");
 Serial.println("Files in the card:");
  root = SD.open("/");
  printDirectory(root, 0);                      //calling the print directory function
  Serial.println("");
  Chalkzila = SD.open("Chalkz.txt");
  if (Chalkzila) {
    Serial.println("Chalkz.txt: ");
    while (Chalkzila.available()) {
      Serial.write(Chalkzila.read());}
    Chalkzila.close();}
  else {Serial.println("error opening Chalkzila.txt!");}


 Chalkzila = SD.open("Chalkz.txt");
    while (Chalkzila.available()) {                     //break into lines and call the processLine function
    String line = Chalkzila.readStringUntil('\n');
    Serial.println("I'm sending : " + line);
    processLine(line);}

Serial.println("The values of X are: ");
  for (int i = 0; i < numoline; i++) {
    Serial.print(i+1);
    Serial.print(" ");
    Serial.println(Xco[i]); }

Serial.println("The values of Y are: ");
  for (int i = 0; i < numoline ; i++) {
    Serial.print(i+1);
    Serial.print(" ");
    Serial.println(Yco[i]);}
}                                                      // end of setup

void processLine(String line){
  
  int xPos = line.indexOf('X');
  int yPos = line.indexOf('Y');
  int zPos = line.indexOf('Z');

  String xSubstring = line.substring(xPos + 1, yPos);
  String ySubstring = line.substring(yPos + 1, zPos);
  String zSubstring = line.substring(zPos + 1);

  float x = xSubstring.toFloat();
  float y = ySubstring.toFloat();
  float z = zSubstring.toFloat();
 
  Serial.print("I've done : ");
  Serial.print("X: ");
  Serial.print(x);
  Serial.print(", Y: ");
  Serial.print(y);
  Serial.print(", Z: ");
  Serial.println(z);

Xco[currentline] = x;
Yco[currentline] = y;
currentline = currentline+1;
}                                                  //end of processLine function


void loop() {
  float newYspeed = 50;
  float newXspeed = 50;
  int currentline2 = 1;  
  float speedfactor = 0;

//                                                          the core movement

while (currentline2 < numoline){
  stepperX.moveTo(Xco[currentline2]);
  stepperY.moveTo(Yco[currentline2]);
  //find the bigger one
  float Xdistance = abs (Xco[currentline2]- Xco[currentline2-1]);
  float Ydistance = abs (Yco[currentline2] - Yco[currentline2-1]);
  Serial.print("X , Y distances are ");Serial.print(Xdistance);Serial.print(" , ");Serial.println(Ydistance);

if(Ydistance < Xdistance){
  Serial.println("I see that X is greater than Y");
  if (Xdistance != 0)
      speedfactor = Ydistance/Xdistance;
  else 
      speedfactor = 1;
  Serial.print("The speed factor is : ");Serial.println(speedfactor);
  newYspeed = speedfactor*50; Serial.print(" New Y speed is : ");Serial.println(newYspeed);
  newXspeed = 50;
  delay(10);}

else if(Xdistance < Ydistance){
  Serial.println("I see that Y is greater than X");
    if (Ydistance != 0)
      speedfactor = Xdistance/Ydistance;
  else 
      speedfactor = 1;

  Serial.print("The speed factor is : ");Serial.println(speedfactor);
  newYspeed = 50; 
  newXspeed = speedfactor*50;Serial.print(" New X speed is : ");Serial.println(newXspeed);
   delay(10);}


else if(Xdistance == Ydistance){
Serial.println("I see that X and Y are the same");
speedfactor = 1 ;
Serial.print("The speed factor is : ");Serial.println(speedfactor);
newYspeed = 50;
newXspeed = 50;
 delay(10);
}
  stepperX.setMaxSpeed(newXspeed);
  stepperY.setMaxSpeed(newYspeed);
  Serial.print("the new speeds are : ");Serial.print(newXspeed); Serial.print(" , ");Serial.println(newYspeed);

while (stepperX.distanceToGo()!=0 || stepperY.distanceToGo()!=0){

    if(stepperX.distanceToGo()!=0)
      stepperX.run();
    if (stepperY.distanceToGo()!=0)
    stepperY.run();

    delay(11);
  }

  currentline2++;
  Serial.print("  line num  "); Serial.print(currentline2);Serial.println("  Finished  ");
  Serial.print("X speed was "); Serial.print(newXspeed);Serial.print("  Y speed was  ");Serial.println(newYspeed);


}
  stepperX.moveTo(2);
  while (stepperX.distanceToGo() != 0)
  stepperX.run();
  stepperY.moveTo(0);
  while (stepperY.distanceToGo() != 0)
  stepperY.run();
delay(50000);
}                                                 //end of void loop

void printDirectory(File dir, int numTabs) {
  while (true) {

    File entry =  dir.openNextFile();
    if (! entry) {
      // no more files
      break;
    }
    for (uint8_t i = 0; i < numTabs; i++) {
      Serial.print('\t');
    }
    Serial.print(entry.name());
    if (entry.isDirectory()) {
      Serial.println("/");
      printDirectory(entry, numTabs + 1);
    } else {
      // files have sizes, directories do not
      Serial.print("\t\t");
      Serial.println(entry.size(), DEC);
    }
    entry.close();
  }
}