/*Example sketch to control a stepper motor with A4988 stepper motor driver,
  AccelStepper library and Arduino: continuous rotation.
  More info: https://www.makerguides.com */

// Include the AccelStepper library:
#include <AccelStepper.h>

#define dirPin 8               //方向脚
#define stepPin 9              //脉冲脚 
#define motorInterfaceType 1   //电机类型

#define XdirPin 10               //方向脚
#define XstepPin 11              //脉冲脚 

#define StarBut 4             //启停按钮
#define HomeBut 2             //起点限位开关
#define EndBut 3              //结束点限位开关
#define DBLed 5               //打标状态灯 
#define ButLed 6              //启动打标

AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);
AccelStepper XStepper = AccelStepper(motorInterfaceType, XstepPin, XdirPin);
//int btn_current = 0;              //当前启停键状态
int btn_previous = 0;             //最后启停键状态
//bool stepper_state = true;        //当前电机状态
int  Dev_state = 0;        //设备有状态

 int iMaxSpeed=500;   //   工作时最大速度
 int iAcceleration=500; //工作时加速度
 int iStepMm=1;      //走1mm的步数
 int iXStepMm=1;      //走1mm的步数
 int iStepSpeed=1;      //速度其数
 int iXStepSpeed=1;      //速度其数


 int DevLength=560;//机器总长度

String input_val;                 //输入字符串值   
int val = 0;                      //输入值 


int WorkType=0;  //工作方式(0 先出锡，1后出锡)
int OutLen=10;//出锡长度(mm)
int OutSpeed=1;//出锡速度(1-10级)
int BakLen=2;//回锡长度(mm)
int BakSpeed=3;//回锡速度
int WorkLen=20;//工作行程(0-50mm)
int WorkSpeed=5;//工作速度(1-10)
int WorkTime=2;//化锡时间(0-60)
int PakLen=5;//补锡长度(mm)
int PakSpeed=1;//补锡速度(1-10)




void setup() {

  pinMode(StarBut, INPUT_PULLUP);
  pinMode(HomeBut, INPUT_PULLUP);
  pinMode(EndBut, INPUT_PULLUP);
  pinMode(DBLed, OUTPUT);
  pinMode(ButLed, OUTPUT);

  Serial.begin(9600);


  //从EEPROM中取出 
  //iMaxSpeed   工作时最大速度
  //iAcceleration 工作时加速度
  //iStepMm      走1mm的步数
  //IsCOntinuous 是否连续打标(即是不回原点 省一个回原点的过程)
  //DbNum单程打标次数
  //iDbLength单程打标长度
  //iDbTime 打标时间
  //DevLength机器总长度

  //慢速回归原点  
  stepper.setMaxSpeed(100);
  stepper.setAcceleration(100); //设置工作时的加速度 从EEPROM中取出 
  stepper.moveTo(-DevLength*iStepMm); //慢速回归原点    
  Dev_state=0;   //启动时归0                                 
}


void loop()
{
  long distance = XStepper.distanceToGo();
  long position = XStepper.currentPosition();
  Serial.print("distance: " + String(distance));
  Serial.println(" position: " + String(position));
      if (Serial.available())
        input_val = Serial.readString();

      if (val > 0)
        val = input_val.toInt();

      
      switch(Dev_state) 
      {
        case  1:  //启动时复位原点
              if (stepper.distanceToGo() == 0)
              {
                Serial.println("回原点结束完成" ); 
                Dev_state=0;
                btn_previous=0; //可以打标            
              } 
              else
                stepper.run();                 
          break;

        case  2:  //运动时回原点
              if (stepper.distanceToGo() == 0)
                {
                    Serial.println("运动时回原点完成" ); 
                    if(stepper.currentPosition()==0)
                    {
                      Dev_state=0;
                      btn_previous=0; //可以打标
                    }        
                }
                else
                      stepper.run();   
          break;

        case  3:  //出锡
            if (XStepper.distanceToGo() == 0)
            {
              XStepper.setCurrentPosition(0);  //出锡归0
              Serial.println("出锡完成" );
              if(WorkType==0)  
              {
                  if(WorkLen>0)
                    {                   
                      stepper.setMaxSpeed(WorkSpeed*iStepSpeed);
                      stepper.moveTo(WorkLen*iStepMm); //长度 
                    }     
                  Dev_state=6;   //下烙铁  
                  Serial.println("启动下烙铁");                      
              }  
              else
              {
                  if(PakLen>0)
                    {                 
                        XStepper.setMaxSpeed(PakSpeed*iXStepSpeed);
                        XStepper.moveTo(PakLen*iXStepMm); //长度 
                    }       
                    Dev_state=7;   //补锡
                    Serial.println("启动补锡"); 
              }                          
            }
          else
              XStepper.run();  

          break;
        
        case  6:  //下烙铁
              if (stepper.distanceToGo() == 0)
                {
                    Serial.println("下烙铁完成" ); 
                    if(WorkType==0)  
                    { 
                      if(PakLen>0)
                        {                        
                            XStepper.setMaxSpeed(PakSpeed*iXStepSpeed);
                            XStepper.moveTo(PakLen*iXStepMm); //长度  
                        }  
                        Dev_state=7;   //补锡
                        Serial.println("启动补锡"); 
                    }
                    else
                    {
                       if(OutLen>0)
                        {                       
                            XStepper.setMaxSpeed(OutSpeed*iXStepSpeed);
                            XStepper.moveTo(OutLen*iXStepMm); //长度  
                        }      
                        Dev_state=3;   //启动出锡 
                        Serial.println("启动出锡");                        
                    }                      
                }
                else
                      stepper.run();  
            break; 

        case  7:  //补锡
          if (XStepper.distanceToGo() == 0)
          {
            XStepper.setCurrentPosition(0);  //出锡归0
            Serial.println("补锡完成" );
            delay(WorkTime);
            Serial.println("化锡完成"); 
            if(BakLen>0)
              {   
                XStepper.setMaxSpeed(BakSpeed*iXStepSpeed);
                XStepper.moveTo(-BakLen*iXStepMm); //长度
              }       
            Dev_state=8;   //启动回锡操作 
            Serial.println("启动回锡");                      
                          
          }
          else
              XStepper.run();                       
        break;

        case  8:  //回锡
          if (XStepper.distanceToGo() == 0)
          {
            Serial.println("回锡完成" ); 
            XStepper.setCurrentPosition(0);  //出锡归0
            stepper.moveTo(0); //快速回归原点  
            Dev_state=2;   //络铁回归原点                                             
          }
          else
              XStepper.run();                           
        break;

        default:  break;

      }

      if (digitalRead(HomeBut)==0)                  //起点限位
        {
          stepper.stop();
          stepper.setCurrentPosition(0);           
          Serial.println("原点限位开关启动"); 

          Dev_state=0; 
          btn_previous=0; //可以焊接   
        }

      if (digitalRead(EndBut)==0)   //急停一次急停，再按回原点
      {
         stepper.stop();
         XStepper.stop();
         XStepper.setCurrentPosition(0);    
         Serial.println("急停");  
         
         btn_previous==1;
         Dev_state=4;    //终点限位，按一下回归0
      }

   

    if (digitalRead(StarBut)==0)  //启动检及停止键
      { 
          switch(Dev_state) 
          {
            case  4:  //启动时复位原点
              stepper.moveTo(0); //快速回归原点   
              Dev_state=2; //归零                
              break;

            default:  
                if(btn_previous==0)   
                {
                    if(WorkType==0)  //先出锡
                    {   
                        if(OutLen>0)
                        {
                          XStepper.setMaxSpeed(OutSpeed*iXStepSpeed);
                          XStepper.moveTo(OutLen*iXStepMm); //长度  
                        }  
                        Dev_state=3;   //启动出锡 
                        Serial.println("启动出锡");                       
                    }
                    else
                    {
                        if(WorkLen>0)
                        {                      
                          stepper.setMaxSpeed(WorkSpeed*iStepSpeed);
                          stepper.moveTo(WorkLen*iStepMm); //长度 
                        }   
                        Dev_state=6;   //下烙铁  
                        Serial.println("启动下烙铁");        
                    }
                } 

              break;
          }    

      }
}