#include "PinChangeInterrupt.h"


#define step_pin 2  // Pin 9 connected to Steps pin on A4988 driver
#define dir_pin 3   // Pin 8 connected to Direction pin
//#define MS1 10       // Pin 10 connected to MS1 pin
//#define MS2 11      // Pin 11 connected to MS2 pin
//#define SLEEP 12     // Pin 12 connected to SLEEP pin
                    
volatile boolean TurnDetected;  // need volatile for Interrupts
volatile boolean rotationdirection;  // CW or CCW rotation

// Rotary Encoder Module connections
const int PinCLK = 5;   // Generating interrupts using CLK signal
const int PinDT = 6;    // Reading DT signal
const int PinSW = 7;    // Reading Push Button switch

int StepperPosition = 0;    // To store Stepper Motor Position
int StepsToTake =200;      // Controls the speed of the Stepper per Rotary click

int direction;   // Variable to set Rotation (CW-CCW) of stepper


// Interrupt routine runs if CLK goes from HIGH to LOW
void rotarydetect ()  {
delay(4);  // delay for Debouncing
if (digitalRead(PinCLK))
rotationdirection= digitalRead(PinDT);
else
rotationdirection= !digitalRead(PinDT);
TurnDetected = true;
}



void setup() {
   //pinMode(MS1, OUTPUT);
   //pinMode(MS2, OUTPUT);
   pinMode(dir_pin, OUTPUT);
   pinMode(step_pin, OUTPUT);
   //pinMode(SLEEP, OUTPUT);   
   //digitalWrite(SLEEP, HIGH);  // Wake up A4988 driver
   delay(5);  // Wait for A4988 driver wake up
   
 /* Configure type of Steps on A4988 driver:
 // MS1 MS2
 //
 // LOW LOW = Full Step //
 // HIGH LOW = Half Step //
 // LOW HIGH = A quarter of Step //
 // HIGH HIGH = An eighth of Step //
 */ 
   //digitalWrite(MS1, LOW);      // Configures to Full Steps
   //digitalWrite(MS2, LOW);    // Configures to Full Steps
   
  pinMode(PinCLK,INPUT);  // Set Pin to Input
  pinMode(PinDT,INPUT);  
  pinMode(PinSW,INPUT);
  digitalWrite(PinSW, HIGH); // Pull-Up resistor for switch
   attachPCINT(digitalPinToPCINT(PinCLK),rotarydetect,FALLING);
}

void loop() {
 
  if (!(digitalRead(PinSW))) {   // check if button is pressed
  if (StepperPosition == 0) {  // check if button was already pressed
  } else {
      if (StepperPosition > 0) {  // Stepper was moved CW
        while (StepperPosition != 0){  //  Do until Motor position is back to ZERO
          digitalWrite(dir_pin, HIGH);  // (HIGH = anti-clockwise / LOW = clockwise)
          for (int x = 1; x < StepsToTake; x++) {
              digitalWrite(step_pin, HIGH);
              delay(1);
              digitalWrite(step_pin, LOW);
              delay(1);            
            }
            StepperPosition=StepperPosition-StepsToTake;
        }
      }
      else {
        while (StepperPosition != 0){ 
          digitalWrite(dir_pin, LOW);  // (HIGH = anti-clockwise / LOW = clockwise)
              for (int x = 1; x < StepsToTake; x++) {
              digitalWrite(step_pin, HIGH);
              delay(1);
              digitalWrite(step_pin, LOW);
              delay(1);            
            }
           StepperPosition=StepperPosition+StepsToTake;
        }
      }
      StepperPosition=0; // Reset position to ZERO after moving motor back
    }
  }

// Runs if rotation was detected
  if (TurnDetected)  {
        TurnDetected = false;  // do NOT repeat IF loop until new rotation detected

// Which direction to move Stepper motor
        if (rotationdirection) { // Move motor CCW
            digitalWrite(dir_pin, HIGH);  // (HIGH = anti-clockwise / LOW = clockwise)
            for (int x = 1; x < StepsToTake; x++) {
              digitalWrite(step_pin, HIGH);
              delay(1);
              digitalWrite(step_pin, LOW);
              delay(1);            
            }
            StepperPosition=StepperPosition-StepsToTake;
        }

        if (!rotationdirection) { // Move motor CW
            digitalWrite(dir_pin, LOW);  // (HIGH = anti-clockwise / LOW = clockwise)
            for (int x = 1; x < StepsToTake; x++) {
              digitalWrite(step_pin, HIGH);
              delay(1);
              digitalWrite(step_pin, LOW); 
              delay(1);         
            }
            StepperPosition=StepperPosition+StepsToTake;
        }
  }
}