#include <AccelStepper.h>
#include <Servo.h>
#include <Toggle.h>

const byte limitSwitchPin = A3;
Toggle limitSwitch;
AccelStepper stepper(AccelStepper::DRIVER, 12, 13);


void homing () {
  Serial.println("Homing - press the button to simulate limitswitch hit");
  stepper.setSpeed(200);
  while (true) { // run CW at constant speed until we hit the button
    stepper.runSpeed();
    limitSwitch.poll();
    if (limitSwitch.onPress()) break;
  }
  Serial.println("Limit switch touched. backing up until release");

  stepper.setSpeed(-100);
  while (limitSwitch.isPressed()) { // run CCW at constant speed until we leave the button
    stepper.runSpeed();
    limitSwitch.poll();
  }
  Serial.println("Limit switch free. Setting position to 0");
  stepper.setCurrentPosition(0);
}

void setup() {
  Serial.begin(115200);
  limitSwitch.begin(limitSwitchPin);
  stepper.setMaxSpeed(1000);
  stepper.setAcceleration(200);
  homing();
}

void loop() {}