/*
  Forum: https://forum.arduino.cc/t/stepper-motor-cancellation/1213693
  Wokwi: https://wokwi.com/projects/387900608246250497

*/
#include <Stepper.h>

int stepsPerRevolution = 2048;
int motSpeed = 50;
int dt = 500;

const byte button1Pin = 6;
const byte button2Pin = 7;
int motDir = 1;

enum stateType {RUNNING, STOPPED, WAITTORUN};
stateType state = RUNNING;
const unsigned long waitToRunInterval = 5000;
unsigned long limitSwitchActivateTime = 0;

Stepper myStepper(stepsPerRevolution, 2, 4, 3, 5);

void setup()
{
  Serial.begin(115200);
  Serial.println("Running");
  myStepper.setSpeed(motSpeed);
  pinMode(button1Pin, INPUT_PULLUP);
  pinMode(button2Pin, INPUT_PULLUP);
}

void loop()
{
  stateMachine();
}


void stateMachine() {
  switch (state) {
    case RUNNING:
      myStepper.step(motDir * 1);
      delayMicroseconds(dt);
      if (limitSwitch()) {
        limitSwitchActivateTime = millis();
        state = STOPPED;
        Serial.println("Stopped");
      }
      break;
    case STOPPED:
      if (digitalRead(button2Pin) == LOW) {
        state = WAITTORUN;
        Serial.println("Start again if delay time is expired");
      }
      break;
    case WAITTORUN:
      if (millis()-limitSwitchActivateTime >= waitToRunInterval){
         state = RUNNING;
      }
      break;
  }
}


boolean limitSwitch() {
  static unsigned long lastChange = 0;
  static byte lastState = HIGH;
  static byte state = HIGH;
  byte actState = digitalRead(button1Pin);
  if (actState != lastState) {
    lastChange = millis();
    lastState = actState;
  }
  if (state != actState && millis() - lastChange > 20 ) {
    state = actState;
    return state;
  }

  return false;

}