/*
  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/390626969872951297

  Motor Control Sketch for SeeSaw Vessel Cradle Control using AccelStepper Library
  Created by James Goddings

  Combining the improvements of MicroBahner
  from https://wokwi.com/projects/390537977584839681

  and ec2021
  from https://wokwi.com/projects/390537630494628865

  In addition
    Removed unused variables
    Removed unnecessary function
    Added stepperX.stop() in case of limit switch activated in loop()
    Debounced the limit switches using a simple class
    Added printing whether the left of right limit switch was activated
    Added lots of comments ...

  Changes done 2024/02/24
  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 max_position;   // Used to set the Maximum Position of the SeeSaw
long left_position;  // Used to set the left most position where the SeeSaw
// may be moved to before touching the left limit switch
long right_position; // Used to set the right most position where the SeeSaw
// may be moved to before touching the right limit switch
int variable_speed;  // Used to store the variable speed of SeeSaw using a potentiometer
boolean goLeft = true;  // Used to define the direction the vessel shall be moved to
// Starts with going to the left position
boolean run    = true;  //
// Set to true here so that loop() starts "running"

// Simple class to handle switches/buttons and read their debounced status
class switchType {                      // Class name
  private:                              // private variables/functions can only be used inside the class
    byte pin;                           // Holds the pin number
    byte state = HIGH;                  // Holds the "official" state of digital pin "pin"
    byte lastState = HIGH;              // Holds the last state of pin read in class function "activated()"
    unsigned long lastChange = 0;       // Holds the time in ms when the last status change of pin took place
  public:                               // public variables/functions are available from outside the class
    void init(byte pinNo) {             // Usually called once in setup()) to initialize "pin" 
      pin = pinNo;                      // Sets internal "pin" to the value of "pinNo"
      pinMode(pin, INPUT_PULLUP);       // Initializes the digital pin as INPUT_PULLUP
    }
    boolean activated() {               // Returns true if the pin state is LOW else returns false
      byte actState = digitalRead(pin); // Reads the actual digital state of "pin"
      if (actState != lastState) {      // If this state is different from lastState 
        lastChange = millis();          // we store the time of this change as "lastChange" in ms
        lastState = actState;           // and set lastState to actState 
      }
      if (actState != state && millis() - lastChange > 20) { // if "state" is different from actState
                                        // and the last change has been performed more than 20 ms before
                                        // we accept the state change as stable 
        state = actState;               // and set our official "state" to actState
      }
      return (state == LOW);           // if state is LOW the function returns true else  false
    }
};

switchType limitSwitchLeft;            // We declare the left switch based on the class switchType
switchType limitSwitchRight;           // We declare the right switch based on the class switchType

void setup() {
  //Start the Serial Monitor at 115200 Baud Rate
  Serial.begin(115200);

  //Initialize the limit switches
  limitSwitchLeft.init(limit_switch_l);    // Left switch initialized with the pin limit_switch_l
  limitSwitchRight.init(limit_switch_r);   // Right switch initialized with the pin limit_switch_r

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

  //Start the Homing Procedure of the Stepper Motor on Startup
  stepperX.setMaxSpeed(100.0);//Set MaxSpeed of Stepper Low for Homing
  stepperX.setAcceleration(500.0);//Set Acceleration of Stepper Low for Homing

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

  stepperX.moveTo(-10000);//Set the Stepper Motor to Move CCW
  while (!limitSwitchLeft.activated()) { //Make the Stepper Move CCW Until the Left Limit Switch is Activated
    stepperX.run();//Start Moving the Stepper Motor
  }
  stepperX.stop();
  stepperX.move(200);
  while (limitSwitchLeft.activated()) { //Make the Stepper Move CW Until the Left Limit Switch is Deactivated
    stepperX.run();//Start Moving the Stepper Motor
  }
  stepperX.stop();
  stepperX.setCurrentPosition(0); // this is the new reference point
  Serial.println("Homing Complete");
  Serial.println("");
  Serial.println("Vessel now Seeking Max Position");

  //Start the Max Seeking Procedure of the Stepper Motor

  stepperX.moveTo(10000);//more than possible max_position

  while (!limitSwitchRight.activated()) { //Make the Stepper Move CW Until the Right Limit Switch is Activated
    stepperX.run();//Start Moving the Stepper Motor
  }
  stepperX.stop();
  stepperX.move(-200);//Set the Stepper Motor to Move CCW
  while (limitSwitchRight.activated()) { //Make the Stepper Move CCW Until the Right Limit Switch is Deactivated
    stepperX.run();//Start Moving the Stepper Motor
  }
  stepperX.stop();
  max_position = stepperX.currentPosition();
  Serial.print("Max Seeking Complete, "); Serial.println(max_position);
  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);//Set Max Speed High for SeeSaw
  stepperX.setAcceleration(300.0);//Set Acceleration High for SeeSaw
  delay(2000);
}


void loop() {
  variable_speed = map(analogRead(A1), 0, 1023, 300, 3000); // Speed Variable mapped to Potentiometer Position
  if (goLeft) {   // If "go to the left" then
    stepperX.moveTo(left_position); // command stepper to go to the left position
    stepperX.setSpeed(-variable_speed); // set speed (negative for turning left)
  } else {         // else -> "go to the right"
    stepperX.moveTo(right_position);  // command stepper to go to the right position
    stepperX.setSpeed(variable_speed); // set speed (positive for turning right)
  }
  if (limitSwitchLeft.activated() ||
      limitSwitchRight.activated()) {  // Check whether one of the limit switches is activated
    if (run) {                         // If yes and run is true ...
      Serial.print(limitSwitchLeft.activated() ? "Left " : "Right ");  // Print either Left or Right
      // assuming that it's unlikely to have both activated at the same time
      Serial.println("Limit Switch triggered!");
      stepperX.stop();                // Stop the stepper
      run = false;                    // Set run to false so that stepperx.Run() is not executed in loop()
      // and to avoid printing the message over and over again ;-)
    }
  }
  if (run) {                          // While run is true
    stepperX.run();                   // execute this line to step forward/backwards
    if (stepperX.currentPosition() <= left_position) {  // if the left position has been reached
      goLeft = false;                                   // switch the direction
    }
    if (stepperX.currentPosition() >= right_position) { // if the right position has been reached
      goLeft = true;                                    // switch the direction
    }
  }
}