#include <AccelStepper.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 20, 4);

#define MAX_POSITION 0x7FFFFFFF // maximum of position
#define DEG_PER_STEP 1.8
#define STEP_PER_REVOLUTION (360 / DEG_PER_STEP)

//AccelStepper Xaxis(1, 2, 5); // pin 2 = step, pin 5 = direction
//AccelStepper Yaxis(1, 3, 6); // pin 3 = step, pin 6 = direction
AccelStepper Xaxis(1, 18, 5); // pin 3 = step, pin 6 = direction
AccelStepper Yaxis(1, 16, 4); // pin 4 = step, pin 7 = direction

long Park = STEP_PER_REVOLUTION;
long go = MAX_POSITION;

void setup() {

 Xaxis.setAcceleration(100.0); 
 Xaxis.setSpeed(100);          
 Xaxis.setCurrentPosition(0);  
 go = -1 * go;       // cambia la direccion a CCW (para buscar el home)
 Xaxis.moveTo(go); // mueve el motor hasta el infinito y mas alla (home)
}

void loop() {  
  if (Xaxis.distanceToGo() != 0) {
      Xaxis.setCurrentPosition(0); // position to 0
      go = -1 * go; // cambia de nuevo a CW
      Xaxis.moveTo(Park); // move motor one revolution
    }
    Xaxis.run();
}
/**#include <AccelStepper.h>
#include <ezButton.h>

#define MAX_POSITION 0x7FFFFFFF // maximum of position
#define DEG_PER_STEP 1.8
#define STEP_PER_REVOLUTION (360 / DEG_PER_STEP)

ezButton homeS(A1);
ezButton limitS(A0);
ezButton start(8);

AccelStepper stepper(AccelStepper::FULL2WIRE, 47, 46);

long Park = STEP_PER_REVOLUTION;
long go = MAX_POSITION;

void setup() {
  Serial.begin(9600);
  homeS.setDebounceTime(50);
  limitS.setDebounceTime(50);
  start.setDebounceTime(50);

  stepper.setAcceleration(100.0); 
  stepper.setSpeed(100);          
  stepper.setCurrentPosition(0);  

  go = -1 * go;       // cambia la direccion a CCW (para buscar el home)
  stepper.moveTo(go); // mueve el motor hasta el infinito y mas alla (home)
}

void loop() {
  homeS.loop(); // loop para botones y switchs
  limitS.loop();
  start.loop();
///////////////////////////////////////////////////////////

  if (homeS.isPressed())
    if (stepper.distanceToGo() != 0) {
      stepper.setCurrentPosition(0); // position to 0
      go = -1 * go; // cambia de nuevo a CW
      stepper.moveTo(Park); // move motor one revolution
    }

  if (limitS.isPressed())      
    if (stepper.distanceToGo() != 0) {
      stepper.setCurrentPosition(0); // reset position to 0
      go = -1 * go; // reverse direction
      stepper.moveTo(go);
      }

  if (start.isPressed())
    stepper.moveTo(go);

    
//////////////////////////////////////////////////////////
  stepper.run(); // MUST be called as frequently as possible
}**/