// Shows how to run AccelStepper in the simplest,
// fixed speed mode with no accelerations
#include "AccelStepper.h"
int btn = 8;
int tgtDistance = 10; // Set defailt distance value
#define encClk 2
#define encDT 3
#define encSw 9
int mmSteps = 50; // Steps per mm of output
const int dirPin = 4;
const int stepPin = 5;
// 
unsigned long pollTime = 5000;
unsigned long last_Run = millis() + pollTime;
// Creates an instance
AccelStepper stepper(AccelStepper::DRIVER, stepPin, dirPin);

void setup()
{
  Serial.begin(9600);
  stepper.setMaxSpeed(1000); // Top speed after acceleration
  stepper.setAcceleration(800); // rate of accel/decel
  pinMode(btn, INPUT_PULLUP);
  pinMode(encSw, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(encDT),  modsetPoint, FALLING);
}

void loop() {
  if (digitalRead(btn) == LOW || digitalRead(encSw) == LOW) // Use the standalone button or the encoder button
  {
    motMove(tgtDistance); // Call the motMove function
  }
}

void motMove(int mm) {
  if (stepper.distanceToGo() == 0) {
    stepper.move(mm * mmSteps);
  }
  stepper.runToPosition();
}

// Function on interrupt detection
void modsetPoint() {
  if  (digitalRead(encClk) == 1) {
    tgtDistance--;
  }
  if (digitalRead(encClk) == 0) {
    tgtDistance++;
  }
  tgtDistance = constrain(tgtDistance,0,120);  //Limit the range, cannot go backwards
  last_Run = millis() + pollTime;
  Serial.println(tgtDistance);
}