#include <Stepper.h>
#include <Servo.h>

// Define the number of steps per revolution for your stepper motors
const int stepsPerRevolution = 200;

// Define the connections for stepper motors
const int stepper1StepPin = 3;
const int stepper1DirPin = 4;
const int stepper2StepPin = 5;
const int stepper2DirPin = 6;
const int stepper3StepPin = 11;
const int stepper3DirPin = 12;

// Define connections for other components
const int ldrPin = A0;
const int ledPin = 2;
const int servoPin = 7;

// Create stepper motor objects
Stepper stepper1(stepsPerRevolution, stepper1StepPin, stepper1DirPin);
Stepper stepper2(stepsPerRevolution, stepper2StepPin, stepper2DirPin);
Stepper stepper3(stepsPerRevolution, stepper3StepPin, stepper3DirPin);

// Create servo motor object
Servo servoMotor;

void setup() {
  // Set up the stepper motor pins
  pinMode(stepper1StepPin, OUTPUT);
  pinMode(stepper1DirPin, OUTPUT);
  pinMode(stepper2StepPin, OUTPUT);
  pinMode(stepper2DirPin, OUTPUT);
  pinMode(stepper3StepPin, OUTPUT);
  pinMode(stepper3DirPin, OUTPUT);

  // Set up other component pins
  pinMode(ldrPin, INPUT);
  pinMode(ledPin, OUTPUT);

  // Attach servo to its pin
  servoMotor.attach(servoPin);
}

void loop() {
  // Read LDR value
  int ldrValue = analogRead(ldrPin);

  // If LDR value indicates low light intensity
  if (ldrValue < 500) {
    // Turn on LED
    digitalWrite(ledPin, HIGH);

    // Rotate stepper1 continuously
    stepper1.setSpeed(20); // Set the speed of stepper1 rotation
    stepper1.step(1000);   // Rotate stepper1 continuously
  } else {
    // Turn off LED
    digitalWrite(ledPin, LOW);

    // Stop stepper1
    stepper1.setSpeed(0);
    stepper1.step(0);

    // Rotate stepper2 10 times clockwise
    rotateStepper(stepper2, 10, true);

    // Rotate servo clockwise 1 time
    servoMotor.write(90); // Set servo to its initial position
    delay(1000);
    servoMotor.write(180); // Rotate servo clockwise
    delay(1000);

    // Rotate stepper3 90 degrees clockwise
    rotateStepper(stepper3, 90, true);

    // Rotate stepper2 10 times anticlockwise
    rotateStepper(stepper2, 10, false);

    // Start rotating stepper1 again
    digitalWrite(ledPin, HIGH); // Turn on LED
    stepper1.setSpeed(20);       // Set the speed of stepper1 rotation
    stepper1.step(1000);         // Rotate stepper1 continuously

    // Rotate servo anticlockwise
    delay(1000);
    servoMotor.write(90); // Rotate servo anticlockwise
    delay(1000);

    // Rotate stepper2 10 times clockwise
    rotateStepper(stepper2, 10, true);

    // Rotate stepper3 90 degrees anticlockwise
    rotateStepper(stepper3, 90, false);
  }
}

// Function to rotate stepper motor
void rotateStepper(Stepper stepper, int steps, bool clockwise) {
  if (clockwise) {
    stepper.setSpeed(20); // Set the speed of rotation
    stepper.step(steps * stepsPerRevolution);
  } else {
    stepper.setSpeed(-20); // Set the speed of rotation
    stepper.step(-steps * stepsPerRevolution);
  }
}