#include <AccelStepper.h>

#define ENCODER_CLK 15   // Change this to the desired CLK pin on ESP32
#define ENCODER_DT   27   // Change this to the desired DT pin on ESP32

// Motor configuration
#define MOTOR_STEP_PIN 2
#define MOTOR_DIR_PIN  4

AccelStepper motor(AccelStepper::DRIVER, MOTOR_STEP_PIN, MOTOR_DIR_PIN);

void setup() {
  Serial.begin(115200);
  pinMode(ENCODER_CLK, INPUT);
  pinMode(ENCODER_DT, INPUT);

  motor.setMaxSpeed(1000.0);
  motor.setAcceleration(500.0);
}

int lastClk = HIGH;
int encoderSteps = 0;

void loop() {
  int newClk = digitalRead(ENCODER_CLK);
  int dtValue = digitalRead(ENCODER_DT);

  if (newClk != lastClk) {
    lastClk = newClk;
    if (newClk == LOW && dtValue == HIGH) {
      // Clockwise rotation
      encoderSteps++;
      if (encoderSteps >= 20) {
        encoderSteps = 0; // Reset to 0 after 20 steps
      }
    }
    if (newClk == LOW && dtValue == LOW) {
      // Counterclockwise rotation
      encoderSteps--;
      if (encoderSteps < 0) {
        encoderSteps = 19; // Wrap to 19 after -1 step
      }
    }
    
    Serial.print("Encoder Steps: ");
    Serial.println(encoderSteps);

    // Control the motor based on encoder steps
    if (encoderSteps >= 0 && encoderSteps <= 5) {
      // Motor moves clockwise
      motor.setSpeed(20);
      motor.runSpeed();
      Serial.println("Motor: Clockwise");
    } else if (encoderSteps >= 6 && encoderSteps <= 10) {
      // Motor moves counterclockwise
      motor.setSpeed(-20);
      motor.runSpeed();
      Serial.println("Motor: Counterclockwise");
    } else {
      // Motor stops
      motor.setSpeed(0);
      motor.runSpeed();
      Serial.println("Motor: Stopped");
    }
  }
}