// ProportionalControl.pde
// -*- mode: C++ -*-
//
// Make a single stepper follow the analog value read from a pot or whatever
// The stepper will move smoothly using acceleration to each newly set posiiton, 
// depending on the value of the pot.
//
// Copyright (C) 2012 Mike McCauley
// $Id: ProportionalControl.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $

// Code derived from: https://www.airspayce.com/mikem/arduino/AccelStepper/ProportionalControl_8pde-example.html
// Code: https://wokwi.com/projects/327613078439985746
//  derived from https://wokwi.com/projects/327324886912467538
//         and:  https://wokwi.com/projects/327379142347588180  
//         and:  https://wokwi.com/projects/327381547863769683
// Discussion: https://discord.com/channels/787627282663211009/787630013658824707/957769150556667954
//         and https://github.com/wokwi/wokwi-features/issues/191
// Docs:  https://docs.wokwi.com/parts/wokwi-stepper-motor
//    note the wokwi-stepper-motor attributes in diagram.json: 
//   "attrs": { "display": "steps", "arrow": "white", "gearRatio": "200:1023"

#include <AccelStepper.h>
#include <MultiStepper.h>
// Define a stepper and the pins it will use
AccelStepper stepperR; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
AccelStepper stepperL(AccelStepper::FULL4WIRE,6,7,8,9); // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
// Up to 10 steppers can be handled as a group by MultiStepper
MultiStepper steppers;

// This defines the analog input pin for reading the control voltage
// Tested with a 10k linear pot between 5v and GND
const byte PositionPot = A0;
const byte AccelerationPot = A1;
void setup()
{  
  stepperR.setMaxSpeed(1000);
  stepperR.setAcceleration(35);
  stepperL.setMaxSpeed(1000*5);
  stepperL.setAcceleration(35);

  // Then give them to MultiStepper to manage
  steppers.addStepper(stepperL);
  steppers.addStepper(stepperR);
}
void loop()
{
  // Read new position
  long position = analogRead(PositionPot);
  int accel = analogRead(AccelerationPot);
  long positions[2]; // Array of desired stepper positions
  
  positions[0] = 50 * position;
  positions[1] = -0.5 * position;

  stepperR.setAcceleration(accel);
  stepperL.setAcceleration(accel);

  steppers.moveTo(positions);
  //steppers.runSpeedToPosition(); // Blocks until all are in position
  steppers.run();
/*
  stepperR.moveTo(position);
  stepperR.run();
  stepperL.moveTo(position*5);
  stepperL.run();
*/
}