#include <Arduino.h>

// Motor pin definitions
#define SLEEP_Y 11
#define DIR_Y 13
#define STEP_Y 14

#define SLEEP_X 10
#define DIR_X 12
#define STEP_X 15

// Joystick pin definitions
#define JOYSTICK_X 28
#define JOYSTICK_Y 27

// Speed control potentiometer
#define SPEED_CONTROL 26

// Dead zone definition
#define DEAD_ZONE 50  // Adjust this value based on your joystick's sensitivity

void setup() {
  Serial.begin(115200);
  
  // Motor pins setup
  pinMode(SLEEP_Y, OUTPUT);
  pinMode(DIR_Y, OUTPUT);
  pinMode(STEP_Y, OUTPUT);
  
  pinMode(SLEEP_X, OUTPUT);
  pinMode(DIR_X, OUTPUT);
  pinMode(STEP_X, OUTPUT);

  // Enable drivers
  digitalWrite(SLEEP_Y, HIGH);
  digitalWrite(SLEEP_X, HIGH);
}

void loop() {
  // Read joystick values and center at 0
  int joystickX = analogRead(JOYSTICK_X) - 512;
  int joystickY = analogRead(JOYSTICK_Y) - 512;
  
  // Apply dead zone
  if (abs(joystickX) < DEAD_ZONE) joystickX = 0;
  if (abs(joystickY) < DEAD_ZONE) joystickY = 0;

  // Separate motor control logic for each axis
  if (joystickX != 0) { // X-axis movement
    bool dirX = joystickX > 0;
    digitalWrite(DIR_X, dirX);
    performMotorStep(STEP_X);
  } else {
    // Stop X-axis motor if in dead zone
    digitalWrite(STEP_X, LOW);
  }
  
  if (joystickY != 0) { // Y-axis movement
    bool dirY = joystickY > 0;
    digitalWrite(DIR_Y, dirY);
    performMotorStep(STEP_Y);
  } else {
    // Stop Y-axis motor if in dead zone
    digitalWrite(STEP_Y, LOW);
  }
}

void performMotorStep(int stepPin) {
  // Read speed control potentiometer
  int speedValue = analogRead(SPEED_CONTROL);
  int delayTime = map(speedValue, 0, 1023, 1000, 100); // Faster speed = lower delay
  
  // Perform motor step
  digitalWrite(stepPin, HIGH);
  delayMicroseconds(delayTime);
  digitalWrite(stepPin, LOW);
  delayMicroseconds(delayTime);
}