//Stepper motor control using A4988 Stepper motor controller.
const int dirPinx = 2;// Direction pin for the x-axis motor
const int stepPinx = 3;//Step pin for the x-axis motor.
const int dirPiny = 4;//Direction pin for the y-axis motor
const int stepPiny = 5;// Step pin for the y-axis motor.

//LEDs for troubleshooting and to observe whether motion is on the x or y axis
const int LEDy = 6;//Used for troubleshooting purposes
const int LEDx = 7;//Used for troubleshooting purposes

//Start button
const int button = 8;
const int automatic = 9;
const int manual = 10;
const int fwdbutton = 11;
const int bwdbutton = 12;


//Cycles for the entire control scheme
const int i = 8;//number of times the process cycles through

//Functions used in the code
void forward(int k);
void backward(int k);
void upward(int k);
void downward(int k);

void setup()
{
  // Declare pins as Outputs
  pinMode(stepPinx, OUTPUT);
  pinMode(dirPinx, OUTPUT);
  pinMode(stepPiny, OUTPUT);
  pinMode(dirPiny, OUTPUT);
  pinMode(LEDy, OUTPUT);
  pinMode(LEDx, OUTPUT);
  pinMode(button, INPUT);
  pinMode(automatic, INPUT);
  pinMode(manual, INPUT);
  pinMode(fwdbutton, INPUT);
  pinMode(bwdbutton, INPUT);
  Serial.begin(9600);

}
void loop()
{
  int autostate = digitalRead(automatic);
  int manstate = digitalRead(manual);
  if (autostate == HIGH)
  {
    Serial.println("Automatic");
    int buttonstate = digitalRead(button);
    if (buttonstate == HIGH)
    {
      for (int n = 0; n < 8; n++)
      {

        forward(500);
        delay(500);
        downward(400);
        delay(2000);
      }
      backward(4000);
      delay(2000);
    }
  }
  else if (manstate == HIGH)
  {
    Serial.println("Manual State");
    int fwd = digitalRead(fwdbutton);
    int bwd = digitalRead(bwdbutton);
    if (fwd == HIGH)
    {
      forward(10);
    }
    else if ( bwd == HIGH)
    {
      backward(10);
    }
    else {
      Serial.println("Manual State");
    }

  }

}

void forward(int k)
{
  digitalWrite(dirPinx, LOW);
  digitalWrite(LEDx, HIGH);
  for (int x = 0; x < k; x++)
  {
    digitalWrite(stepPinx, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPinx, LOW);
    delayMicroseconds(1000);
  }
  digitalWrite(LEDx, LOW);
}
void backward(int k) {
  digitalWrite(dirPinx, HIGH);
  digitalWrite(LEDx, HIGH);
  for (int x = 0; x < k; x++)
  {
    digitalWrite(stepPinx, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPinx, LOW);
    delayMicroseconds(1000);
  }
  digitalWrite(LEDx, LOW);
}

void upward(int k) {
  digitalWrite(dirPiny, HIGH);
  digitalWrite(LEDy, HIGH);
  for (int x = 0; x < k; x++)
  {
    digitalWrite(stepPiny, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPiny, LOW);
    delayMicroseconds(1000);
  }
  digitalWrite(LEDy, LOW);
}

void downward(int k) {
  digitalWrite(dirPiny, LOW);
  digitalWrite(LEDy, HIGH);
  for (int x = 0; x < k; x++)
  {
    digitalWrite(stepPiny, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPiny, LOW);
    delayMicroseconds(1000);
  }
  digitalWrite(LEDy, LOW);
}