#include <Servo.h>

Servo garra;



int step1 = 13;
int dir1 = 12;
int step2 = 11;
int dir2 = 10;
int step3 = 9;
int dir3 = 8;

int botgarra = 6;

int botd1 = A0;
int bote1 =A1;

int botd2 = 2;
int bote2 = 3;

int botd3 = 4;
int bote3 = 5; 

int tempo = 5;

bool aux1 = 1;
bool aux2 = 0;


void setup() {


garra.attach(7);
garra.write(90);
  
pinMode(step1, OUTPUT);
pinMode(dir1, OUTPUT);
pinMode(step2, OUTPUT);
pinMode(dir2, OUTPUT);
pinMode(step3, OUTPUT);
pinMode(dir3, OUTPUT);
pinMode(botgarra, INPUT_PULLUP);
pinMode(botd1, INPUT_PULLUP);
pinMode(bote1, INPUT_PULLUP);
pinMode(botd2, INPUT_PULLUP);
pinMode(bote2, INPUT_PULLUP);
pinMode(botd3, INPUT_PULLUP);
pinMode(bote3, INPUT_PULLUP);


}

void loop() {
if (digitalRead(botgarra) == LOW and aux1 == HIGH){
  garra.write(0);
  aux1 = 0;
  aux2 = 1;
  delay(200);
}
if (digitalRead(botgarra) == LOW and aux2 == HIGH){
  garra.write(180);
  aux1 = 1;
  aux2 = 0;
  delay(200);
}



// INICIO   """"""""""""""""""""""""  MOTORES FUNCIONANDO POR FUNÇAO IF    """""""""""""""""""""
 /*if (digitalRead(botd1) == LOW ){
  digitalWrite(dir1, HIGH);
  digitalWrite(step1, HIGH);
  posmot1 = posmot1+1;
  delay(tempo);
  digitalWrite(step1, LOW);
  delay(tempo);
  
}
if (digitalRead(bote1) == LOW ){
  digitalWrite(dir1, LOW);
  digitalWrite(step1, HIGH);
  posmot1 = posmot1-1;
  delay(tempo);
  digitalWrite(step1, LOW);
  delay(tempo);
}


if (digitalRead(botd2) == LOW ){
  digitalWrite(dir2, HIGH);
  digitalWrite(step2, HIGH);
  posmot2 = posmot2+1;
  delay(tempo);
  digitalWrite(step2, LOW);
  delay(tempo);
}
if (digitalRead(bote2) == LOW ){
  digitalWrite(dir2, LOW);
  digitalWrite(step2, HIGH);
  posmot2 = posmot2-1;
  delay(tempo);
  digitalWrite(step2, LOW);
  delay(tempo);
}

if (digitalRead(botd3) == LOW ){
  digitalWrite(dir3, HIGH);
  digitalWrite(step3, HIGH);
  posmot3 = posmot3+1;
  delay(tempo);
  digitalWrite(step3, LOW);
  delay(tempo);
}
if (digitalRead(bote3) == LOW ){
  digitalWrite(dir3, LOW);
  digitalWrite(step3, HIGH);
  posmot3 = posmot3-1;
  delay(tempo);
  digitalWrite(step3, LOW);
  delay(tempo);
}
*/
// FINAL   """"""""""""""""""""""""  MOTORES FUNCIONANDO POR FUNÇAO IF    """""""""""""""""""""


//inicio   """""""""""""""""""""""""MOTORES FUNCIONANDO POR FUNÇAO MOT    """"""""""""""""""""""'

if (digitalRead(bote1) == LOW && digitalRead(botd1) == HIGH){
mot1e();
}
if (digitalRead(bote1) == HIGH && digitalRead(botd1) == LOW){
mot1d();
}

if (digitalRead(bote2) == LOW && digitalRead(botd2) == HIGH){
mot2e();
}
if (digitalRead(bote2) == HIGH && digitalRead(botd2) == LOW){
mot2d();
}

if (digitalRead(bote3) == LOW && digitalRead(botd3) == HIGH){
mot3e();
}
if (digitalRead(bote3) == HIGH && digitalRead(botd3) == LOW){
mot3d();
}


}

void mot1d(){
digitalWrite(dir1, LOW);
digitalWrite(step1, HIGH);
delay(tempo);
digitalWrite(step1, LOW);
delay(tempo);
}
void mot1e(){
digitalWrite(dir1, HIGH);
digitalWrite(step1, HIGH);
delay(tempo);
digitalWrite(step1, LOW);
delay(tempo);
}


void mot2d(){
digitalWrite(dir2, LOW);
digitalWrite(step2, HIGH);
delay(tempo);
digitalWrite(step2, LOW);
delay(tempo);
}
void mot2e(){
digitalWrite(dir2, HIGH);
digitalWrite(step2, HIGH);
delay(tempo);
digitalWrite(step2, LOW);
delay(tempo);
}


void mot3d(){
digitalWrite(dir3, LOW);
digitalWrite(step3, HIGH);
delay(tempo);
digitalWrite(step3, LOW);
delay(tempo);
}
void mot3e(){
digitalWrite(dir3, HIGH);
digitalWrite(step3, HIGH);
delay(tempo);
digitalWrite(step3, LOW);
delay(tempo);
}
//FINAL   """""""""""""""""""""""""MOTORES FUNCIONANDO POR FUNÇAO MOT    """"""""""""""""""""""'