// Define the pins for the stepper motor control
const int stepPin = 9;             // Step pin connected to A4988 STEP pin
const int dirPin = 8;              // Direction pin connected to A4988 DIR pin
const int buttonPinStart = 2;      // Start button pin
const int buttonPinStop = 3;       // Stop button pin
const int buttonPinDirChange = 4;  // Direction change button pin
const int buttonPinMode = 5;       // Mode button pin
const int buttonPinAngleInc = 6;   // Angle increase button pin
const int buttonPinAngleDec = 7;   // Angle decrease button pin
const int buttonPinReset = 10;     // Reset button pin
const int potPinSpeed = A0;    // Potentiometer pin for speed control
const int potPinRest = A1;  
const int buttonPinResInc = 11;  
const int buttonPinResDec = 12;  

// Define variables
int stepDelay = 10000;          // Initial delay between steps in microseconds
int currentAngle = 0;           // Current angle setting
bool motorRunning = false;      // Flag to track motor state
bool angleMode = false;         // Flag to indicate the current mode
int direction = HIGH;           // Initial direction (clockwise)
int res=1;
int totalsteps=0;
void setup() {
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(buttonPinStart, INPUT_PULLUP); // Internal pull-up resistor
  pinMode(buttonPinStop, INPUT_PULLUP);  // Internal pull-up resistor
  pinMode(buttonPinDirChange, INPUT_PULLUP); // Internal pull-up resistor
  pinMode(buttonPinMode, INPUT_PULLUP);    // Internal pull-up resistor
  pinMode(buttonPinAngleInc, INPUT_PULLUP); // Internal pull-up resistor
  pinMode(buttonPinAngleDec, INPUT_PULLUP); // Internal pull-up resistor
  pinMode(buttonPinReset, INPUT_PULLUP);    // Internal pull-up resistor
  pinMode(buttonPinResInc , INPUT_PULLUP); // Internal pull-up resistor
  pinMode(buttonPinResDec, INPUT_PULLUP);    // Internal pull-up resistor

  // Initialize Serial communication
  Serial.begin(9600);

  // Set initial direction (clockwise)
  digitalWrite(dirPin, direction);

  // Print initial instructions
  Serial.println("Press Mode button to switch between Angle and Speed modes.");
  Serial.println("Press Start button to start the motor.");
  Serial.println("Press Stop button to stop the motor.");
  Serial.println("Press Direction button to change motor direction.");
  Serial.println("Use Angle increase/decrease buttons to set the rotation angle.");
  Serial.println("Press Reset button to undo changes and reset.");
}

void loop() {
  // Read the state of the mode button
    
  if (digitalRead(buttonPinMode) == LOW) {
    angleMode = !angleMode; // Toggle mode
    Serial.print("Mode changed to: ");
    Serial.println(angleMode ? "Angle" : "Speed");
    delay(500); // debounce delay
  }

  // Read the state of the start button
  if (digitalRead(buttonPinStart) == LOW && !motorRunning) {
    motorRunning = true; // Start motor
    Serial.println("Motor started");
    delay(500); // debounce delay
  }

  // Read the state of the stop button
  if (digitalRead(buttonPinStop) == LOW && motorRunning) {
    motorRunning = false; // Stop motor
    Serial.println("Motor stopped");
    delay(500); // debounce delay
  }

  // Read the state of the direction button
  if (digitalRead(buttonPinDirChange) == LOW) {
    direction = !direction; // Toggle direction
    digitalWrite(dirPin, direction);
    Serial.println(direction ? "Clockwise" : "Anti-Clockwise");
    delay(500); // debounce delay
  }


  if (digitalRead(buttonPinResInc) == LOW && res<100) {
    res=(res*10);
    Serial.print("Resolution ");
    Serial.println(res);
    delay(500); // debounce delay
  }
  if (digitalRead(buttonPinResDec) == LOW && res>1) {
    res=(res/10);
          Serial.print("Resolution ");
    Serial.println(res);
    delay(500); // debounce delay
  }
  // Read the state of the angle increase button
  if (digitalRead(buttonPinAngleInc) == LOW && !motorRunning) {
    currentAngle+=(1*res); // Increase angle
    Serial.print("Angle set to: ");
    Serial.println(currentAngle);
    delay(500); // debounce delay
  }

  // Read the state of the angle decrease button
  if (digitalRead(buttonPinAngleDec) == LOW && !motorRunning) {
    currentAngle-=(1*res);// Decrease angle
    Serial.print("Angle set to: ");
    Serial.println(currentAngle);
    delay(500); // debounce delay
  }

  // Read the state of the reset button
  if (digitalRead(buttonPinReset) == LOW) {
    resetSystem();
    Serial.println("System reset.");
    delay(500); // debounce delay
  }
   

   
   
   
    int PotValueSpeed = analogRead(potPinSpeed);
    stepDelay = map(PotValueSpeed, 0, 1023, 2000, 700); // Adjust the range for speed

  // Execute based on current mode
  // Execute based on current mode
  if (angleMode) {
    // Angle rotation mode
    if (motorRunning) {
      rotateByAngle(currentAngle);
    }
  } else {
    // Speed control mode
    if (motorRunning) {
      rotateBySpeed();
    }
  }


}

// Function to rotate the stepper motor by the specified angle
void rotateByAngle(int targetAngle) {
  // Calculate the number of steps required for the specified angle
  int steps = targetAngle/1.8;
  if(direction==HIGH){
    totalsteps+=steps;
  }
  else{
    totalsteps-=steps;
  }
  
  // Rotate the stepper motor
  for (int i = 0; i < steps; i++) {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(stepDelay); // Adjust delay for speed
    digitalWrite(stepPin, LOW);
    delayMicroseconds(stepDelay); // Adjust delay for speed
  }

  // Stop the motor after reaching the target angle
  motorRunning = false;
  currentAngle=0;
  Serial.println("Motor stopped after rotation.");
}

// Function to reset the system and return the motor to initial position
void resetSystem() {
    int stepDifference = totalsteps%200; // Calculate the angle difference from current position to initial position
        Serial.print("stepDifference set to: ");
    Serial.println(stepDifference);
     direction = !direction; // Toggle direction
    digitalWrite(dirPin, direction);
    rotateByAngle(stepDifference*1.8); // Rotate the motor to return to initial position (angle 0)
    Serial.println("Motor returned to initial position.");
     stepDelay = 10000;        
     currentAngle = 0;          
     motorRunning = false;    
     angleMode = false;        
     direction = HIGH;           
     res=1;
    totalsteps=0;
}

// Function to rotate the stepper motor with the current speed
void rotateBySpeed() {
  // Rotate the stepper motor continuously with the current speed
  digitalWrite(stepPin, HIGH);
  delayMicroseconds(stepDelay); // Adjust delay for speed
  digitalWrite(stepPin, LOW);
  delayMicroseconds(stepDelay); // Adjust delay for speed
}