#include <AccelStepper.h>
#include <IRremote.h>

// Define stepper motor connections and motor interface type
#define dirPinHorizontal 2
#define stepPinHorizontal 3
#define dirPinVertical 7
#define stepPinVertical 8
#define motorInterfaceType 1

// Define IR remote control pin
#define IR_RECEIVE_PIN 4

// Define proximity sensor pins
#define leftProximitySensor 5
#define rightProximitySensor 6

// Define the length of the board
#define BOARD_LENGTH 600

// Initialize stepper motors
AccelStepper stepperHorizontal(motorInterfaceType, stepPinHorizontal, dirPinHorizontal);
AccelStepper stepperVertical(motorInterfaceType, stepPinVertical, dirPinVertical);

// Initialize IR receiver
IRrecv irrecv(IR_RECEIVE_PIN);
decode_results results;

// Remote control command definitions
#define FORWARD 0xFF906F // Replace with your remote's forward button code
#define REVERSE 0xFFC23D // Replace with your remote's reverse button code
#define STOP    0xFFA857 // Replace with your remote's stop button code

bool isPaused = false;
bool isMoving = false;

void setup() {
  // Initialize serial communication for debugging
  Serial.begin(9600);

  // Initialize stepper motors
  stepperHorizontal.setMaxSpeed(1000); // Set maximum speed
  stepperHorizontal.setAcceleration(500); // Set acceleration
  stepperVertical.setMaxSpeed(500); // Set maximum speed for vertical motion
  stepperVertical.setAcceleration(250); // Set acceleration for vertical motion
  stepperVertical.moveTo(BOARD_LENGTH); // Initial target position for vertical motion
  
  // Initialize IR receiver
  irrecv.enableIRIn();

  // Initialize proximity sensors
  pinMode(leftProximitySensor, INPUT);
  pinMode(rightProximitySensor, INPUT);
}

void loop() {
  if (irrecv.decode(&results)) {
    // Check which button was pressed
    switch (results.value) {
      case FORWARD:
        Serial.println("Forward");
        if (!isPaused) {
          stepperHorizontal.moveTo(BOARD_LENGTH);
          isMoving = true;
        }
        break;
      case REVERSE:
        Serial.println("Reverse");
        if (!isPaused) {
          stepperHorizontal.moveTo(0);
          isMoving = true;
        }
        break;
      case STOP:
        Serial.println("Stop/Pause");
        if (isMoving) {
          isPaused = !isPaused; // Toggle pause/play state
          if (isPaused) {
            stepperHorizontal.stop();
            stepperVertical.stop();
            isMoving = false;
          } else {
            stepperHorizontal.runToPosition();
            stepperVertical.runToPosition();
            isMoving = true;
          }
        }
        break;
    }
    irrecv.resume(); // Receive the next value
  }

  // Read proximity sensors
  if (digitalRead(leftProximitySensor) == LOW) {
    Serial.println("Left edge detected, stopping motor");
    stepperHorizontal.stop();
    isMoving = false;
  }
  if (digitalRead(rightProximitySensor) == LOW) {
    Serial.println("Right edge detected, stopping motor");
    stepperHorizontal.stop();
    isMoving = false;
  }

  // Run the motors if not paused and not at edges
  if (isMoving && !isPaused) {
    stepperHorizontal.run();
    if (!stepperVertical.isRunning()) {
      stepperVertical.moveTo(-stepperVertical.currentPosition()); // Move the vertical motor in a back and forth motion
    }
    stepperVertical.run();
  }
}