#include <AccelStepper.h>

int maxSteps = 200;
int stepPin = 3;
int dirPin = 2;
const int maxSpeed = 1000;
const int acceleration = 1000;

AccelStepper stepper1(1, stepPin, dirPin);

struct motorStructure{
  bool main;
  bool start;
  int speed;
  int position;
};

motorStructure motor1;

void setup() {
  Serial.begin(9600);
  motorInit(stepper1);
  motor1 = {true, true, 1, 5};
}

void loop() {

  motor1 = function(stepper1, motor1);
  motor1.position = -5;
  motor1.speed = 5;

}

motorStructure function(AccelStepper &stepperMotor, struct motorStructure x){
  bool main = x.main;
  bool start = x.start;
  int speed = x.speed;
  int position = x.position;

  // Only Execute if 'main' boolean is triggered
  if(main){
    // Start First Motion as its own Action
    if(start){
      stepperMotor.moveTo(position);
      stepperMotor.setSpeed(speed);
      stepperMotor.runSpeedToPosition();
      x.start = false;
      }
    else{
      // Check to See if Motor is at End of Motion Before Re-Assigning New Position
      // [non-blocking workaround]
      if(stepperMotor.distanceToGo() == 0){
        stepperMotor.moveTo(position);
        stepperMotor.setSpeed(speed);
      }  
      stepperMotor.runSpeedToPosition();
    }
  }
  return x;
}


void motorInit(AccelStepper &stepperMotor){
  stepperMotor.setMaxSpeed(maxSpeed);
  stepperMotor.setAcceleration(acceleration);
}


// motorStructure function(AccelStepper &stepperMotor, struct motorStructure x){
//   bool start = x.start;
//   bool direction = x.direction;

//   if(start){
//     int directionSign = plusMinus(direction);
//     stepperMotor.setSpeed(speed);
//     stepperMotor.moveTo(directionSign * waveSteps);
//     stepperMotor.runSpeedToPosition();
//     x.start = false;
    
//   }
//   else{
//     if(stepperMotor.distanceToGo() == 0){
//       direction = !direction;
//       x.direction = direction;
//       int directionSign = plusMinus(direction);
//       stepperMotor.moveTo(directionSign * waveSteps);
//     }
//     stepperMotor.setSpeed(speed);
//     stepperMotor.runSpeedToPosition();
//   }
//   return x;
// }

// int plusMinus(bool direction){
//   if(direction){
//     return +1;
//   }
//   else{
//     return -1;
//   }
// }