/*
  Forum: https://forum.arduino.cc/t/creating-a-sketch-to-control-a-stepper-motor-with-limit-switches-to-drive-a-prototype-seesaw-piston-vessel/1227569/4
  Wokwi: https://wokwi.com/projects/390534148140979201


  Motor Control Sketch for SeeSaw Vessel Cradle Control using AccelStepper Library

  Created by James Goddings

  Changes done 2024/02/23

  ec2021

*/

#include "AccelStepper.h";
//Library created by Mike McCauley at http://www.airspayce.com/mikem/arduino/AccelStepper
//Used for programming stepper motors using Arduino microprocessors

//Setup Control Variables


AccelStepper stepperX(1, 6, 7); //AccelStepper Setup
//1=Easy Driver Interface
//Arduino Pin 6 Connected to PUL- Pin => Pulse width controls speed of motor
//Arduino Pin 7 Connected to DIR- Pin => Controls motor direction

//Define Limit Switch Pins
const int limit_switch_l = 2;//Left Limit Switch Connected to Pin 2
const int limit_switch_r = 3;//Left Limit Switch Connected to Pin 3

//Define Variables
//long TravelX;//Used to Store the Value X Entered in the Serial Monitor
//int move_finished;//Used to CHeck if Move is Completed
long initial_homing = -1; //Used to Home Stepper at Startup
long find_max = 1; //Used to Find Max Limit at Startup
long max_position;//Used to Set the Maximum Position of the SeeSaw
int variable_speed;//Used to Vary Speed of SeeSaw Using Potentiometer
int newspeed;
long left_position;
long right_position;

void setup() {
  //Start the Serial Monitor at 9600 Baud Rate
  Serial.begin(9600);

  //Pull Up Resistor Debouncing on Each Switch
  pinMode(limit_switch_l, INPUT_PULLUP);
  pinMode(limit_switch_r, INPUT_PULLUP);

  //Wait for Easy Driver to Wake
  delay(5);

  //Start the Homing Procedure ofthe Stepper Motor on Startup
  stepperX.setMaxSpeed(100.0);//Set MaxSpeed of Stepper Low for Homing
  stepperX.setAcceleration(100.0);//Set Acceleration of Stepper Low for Homing

  Serial.print("Vessel is finding home position");

  while (digitalRead(limit_switch_l)) { //Make the Stepper Move CCW Until the Left Limit Switch is Activated
    stepperX.moveTo(initial_homing);//Set the Stepper Motor to Move CCW
    stepperX.run();//Start Moving the Stepper Motor
    initial_homing--;//Decrease by 1 Step if Needed
    delay(5);//5 millisecond delay before looping this
  }

  stepperX.setCurrentPosition(0);//When the Switch is Activated Set This Position as Zero for Now
  stepperX.setMaxSpeed(100.0);//Set MaxSpeed of Stepper Low for Final Home Position Seeking
  stepperX.setAcceleration(100.0);//Set Acceleration of Stepper Low for Final Home Position Seeking
  initial_homing = 1;

  while (!digitalRead(limit_switch_l)) { //Make the Stepper Move CW Until the Left Limit Switch is Deactivated
    stepperX.moveTo(initial_homing);//Set the Stepper Motor to Move CCW
    stepperX.run();//Start Moving the Stepper Motor
    initial_homing++;//Increase by 1 Step if Needed
    delay(5);//5 millisecond delay before looping this
  }

  stepperX.setCurrentPosition(0);
  Serial.println("Homing Complete");
  Serial.println("");
  Serial.println("Vessel now Seeking Max Position");

  //Start the Max Seeking Procedure ofthe Stepper Motor
  stepperX.setMaxSpeed(100.0);//Set MaxSpeed of Stepper Low for Max Seeking
  stepperX.setAcceleration(100.0);//Set Acceleration of Stepper Low for Max Seeking

  while (digitalRead(limit_switch_r)) { //Make the Stepper Move CW Until the Right Limit Switch is Activated
    stepperX.moveTo(find_max);//Set the Stepper Motor to Move CW
    stepperX.run();//Start Moving the Stepper Motor
    find_max++;//Increase by 1 Step if Needed
    delay(5);//5 millisecond delay before looping this
  }

  //stepperX.setCurrentPosition(max_position);//When the Switch is Activated Set This Position as Max Position for Now
  max_position = stepperX.currentPosition();
  stepperX.setMaxSpeed(100.0);//Set MaxSpeed of Stepper Low for Final Max Position Seeking
  stepperX.setAcceleration(100.0);//Set Acceleration of Stepper Low for Final Max Position Seeking
  find_max = -1;

  while (!digitalRead(limit_switch_r)) { //Make the Stepper Move CCW Until the Right Limit Switch is Deactivated
    stepperX.moveTo(find_max);//Set the Stepper Motor to Move CCW
    stepperX.run();//Start Moving the Stepper Motor
    find_max--;//Decrease by 1 Step if Needed
    delay(5);//5 millisecond delay before looping this
  }

  max_position = stepperX.currentPosition();
  stepperX.setCurrentPosition(max_position);
  Serial.println("Max Seeking Complete");
  Serial.println("");
  Serial.println("Vessel Will Now Start Cycling");

  left_position = 2; //Add a new left position variable just before left limit switch
  right_position = max_position - 2; //Add a new right position variable just before left limit switch

  stepperX.setMaxSpeed(3000.0);//Set Max Speed High for SeeSaw
  stepperX.setAcceleration(300.0);//Set Acceleration High for SeeSaw
  Serial.println(left_position);
  Serial.println(right_position);
  delay(2000);
  Serial.println("Running Test");
}


boolean goLeft = true;


void loop() {
  newspeed = map(analogRead(A1), 0, 1023, 300, 3000); //Set Potentiometer Controlled Speed Variable to Map on to Potentiomater Position
  if (variable_speed != newspeed) {
    variable_speed = newspeed;
    stepperX.setSpeed(variable_speed);
  }
  if (goLeft) {
    stepperX.runToNewPosition(left_position);
    Serial.println(stepperX.currentPosition());
    if (stepperX.currentPosition() == left_position) {
      goLeft = false;
    }
  } else {
    stepperX.runToNewPosition(right_position);
    Serial.println(stepperX.currentPosition());
    if (stepperX.currentPosition() == right_position) {
      goLeft = true;
    }
  }

}