const int stepPin = 4;
const int speed_switchA = 26;
const int speed_switchB = 27;
const int stepMode = 25;
int Full_Steps_Revolution = 200; 
const int Half_Steps_Revolution = Full_Steps_Revolution * 2; 
int MS1 = 19;

//Velocidades (Speeds, Milisegundos):
const int speed1 = 50; 
const int speed2 = 25; 
const int speed3 = 10;  
const int speed4 = 5;  


const float half_step_divisor = 2.0;

void setup() {
  
  pinMode(stepPin, OUTPUT);
  pinMode(speed_switchA, INPUT_PULLDOWN);
  pinMode(speed_switchB, INPUT_PULLDOWN);
  pinMode(stepMode, INPUT_PULLDOWN);
  pinMode(MS1, OUTPUT);
  
  Serial.begin(115200);
}

void loop() {

  bool switchA_State = digitalRead(speed_switchA);
  bool switchB_State = digitalRead(speed_switchB);
  bool stepMode_State = digitalRead(stepMode);

  
  float selectedSpeed;
  String speed_Display;

  if (switchA_State == LOW && switchB_State == LOW) {
    selectedSpeed = speed1; 
    speed_Display = " #1: ";
  } else if (switchA_State == LOW && switchB_State == HIGH) {
    selectedSpeed = speed2; 
    speed_Display = " #2: ";
  } else if (switchA_State == HIGH && switchB_State == LOW) {
    selectedSpeed = speed3; 
    speed_Display = " #3: ";
  } else {
    selectedSpeed = speed4; 
    speed_Display = " #4: ";
  }

 
  int steps_by_Revolution;
  String step_Mode_Display;

  // Modo de pasos completos:
  if (stepMode_State == LOW) {
    digitalWrite(MS1, LOW);
    steps_by_Revolution = Full_Steps_Revolution; 
    Serial.print("Velocidad de Paso");
    Serial.print(speed_Display);
    Serial.print(selectedSpeed * 2);
    Serial.print(" ms");
    Serial.print(" | ");
    step_Mode_Display = "Modo: Paso completo";
  } 
  
  // Modo de medios pasos:
  else {
    digitalWrite(MS1, HIGH);
    steps_by_Revolution = Half_Steps_Revolution; 
    selectedSpeed /= half_step_divisor; 
    Serial.print("Velocidad de Paso");
    Serial.print(speed_Display);
    Serial.print(selectedSpeed*2);
    Serial.print(" ms");
    Serial.print(" | ");
    step_Mode_Display = "Modo: Medio paso";
  }

  Serial.println(step_Mode_Display);

  // Ciclo de Revolución:
  for(int i = 0; i < steps_by_Revolution; i++) {
    digitalWrite(stepPin, HIGH);
    delay(selectedSpeed); 
    digitalWrite(stepPin, LOW);
    delay(selectedSpeed); 
  }

  // Calculo para el tiempo de revolución:
  unsigned long Revolution_Time = steps_by_Revolution * (selectedSpeed * 2); 


  Serial.print("Tiempo de revolucion: ");
  Serial.print(Revolution_Time/1000);
  Serial.print(" segundos");
  Serial.print(" | ");


  Serial.print("Cantidad de pasos realizados: ");
  Serial.println(steps_by_Revolution);
  Serial.println("\n");

  delay(1000); 
}