#include <Stepper.h>

// Cisla pinu pro Joystick
#define Joy_X  A1 // Arduino pin connected to VRX pin
#define Joy_Y  A2 // Arduino pin connected to VRY pin

const int dirPin = 2;
const int stepPin = 3;
const int stepsPerRevolution = 100;

int xValue = 0; // To store value of the X axis
int yValue = 0; // To store value of the Y axis

int val;    // variable to read the value from the analog pin
int previous = 0;

int Pval = 0;
int potVal = 0;

//const int stepsPerRevolution = 100;  // change this to fit the number of steps per revolution
// for your motor

// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);

void setup() {
  
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
 // set the speed at 60 rpm:
  myStepper.setSpeed(60);

 // initialize the serial port:
  Serial.begin(9600) ;

  digitalWrite(dirPin,HIGH);
}

void loop() {
  //Joystick_reader();
  //step_one_revolution();
  //Step_motor_A4988();
  //Position_with_Joystick();
  //Step_motor_A4988_position_with_Joystick();
  Step_motor_A4988_position_with_Joystick2();
}


void Joystick_reader() {
  // read analog X and Y analog values
  xValue = analogRead(Joy_X);
  yValue = analogRead(Joy_Y);

  // print data to Serial Monitor
  Serial.print("x = ");
  Serial.print(xValue);
  Serial.print(", y = ");
  Serial.println(yValue);
  delay(200);
}

void step_one_revolution() {
  // step one revolution  in one direction:
  Serial.println("clockwise");
  myStepper.step(stepsPerRevolution);
  delay(500);

  // step one revolution in the other direction:
  Serial.println("counterclockwise");
  myStepper.step(-stepsPerRevolution);
  delay(500);
}

void Position_with_Joystick() {
  val = analogRead(Joy_X);            // reads the value of the potentiometer (value between 0 and 1023)
  val = map(val, 1024, 0, -90, 90);     // scale it to use it with the servo (value between 0 and 180)
  myStepper.step(val - previous);     // sets the servo position according to the scaled value
  previous = val;
}


void Step_motor_A4988() {
  // Set motor direction clockwise
  digitalWrite(dirPin, HIGH);
 
  // Spin motor slowly
  for(int x = 0; x < stepsPerRevolution; x++)
  {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(2000);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(2000);
    Serial.println("Motor+");
  }
  delay(1000); // Wait a second
  
  // Set motor direction counterclockwise
  digitalWrite(dirPin, LOW);
 
  // Spin motor quickly
  for(int x = 0; x < stepsPerRevolution; x++)
  {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(1000);
    Serial.println("Motor-");
  }
  delay(1000); // Wait a second
}


void Step_motor_A4988_position_with_Joystick() {
  val = analogRead(Joy_X);  
  val = map(val, 1024, 0, -90, 90);     // scale it to use it with the servo (value between 0 and 180)
  
  xValue = analogRead(Joy_X);
  if (xValue > 600){
   Step_motor_counterclockwise();
  }

  else if(xValue < 400){
   //val = analogRead(Joy_X);   
   //val = map(val, 500, 0, 0, 90);
   Step_motor_clockwise();
   
  }
  previous = val;
}

void Step_motor_A4988_position_with_Joystick2() {
  //val = analogRead(Joy_X);  
  //val = map(val, 1024, 0, -90, 90);     // scale it to use it with the servo (value between 0 and 180)
  
  potVal = map(analogRead(A1),0,1024,-90,90);

 if (potVal>Pval)
  Step_motor_counterclockwise();

 if (potVal<Pval)
  Step_motor_clockwise();

 Pval = potVal;

 Serial.println(Pval); 

}

// KROKY  STEP motoru
void Step_motor_clockwise() {
  // Set motor direction clockwise
  digitalWrite(dirPin, HIGH);
 
  // Spin motor slowly
  for(int x = 0; x < stepsPerRevolution; x++)   //(val - previous)
  {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(1000);
    Serial.println("Motor+");
  }
}

void Step_motor_counterclockwise() {
  // Set motor direction counterclockwise
  digitalWrite(dirPin, LOW);
 
  // Spin motor quickly
  for(int x = 0; x < stepsPerRevolution; x++)
  {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(1000);
    Serial.println("Motor-");
  }
}