/*
 * This Arduino Nano ESP32 code was developed by newbiely.com
 *
 * This Arduino Nano ESP32 code is made available for public use without any restriction
 *
 * For comprehensive instructions and wiring diagrams, please visit:
 * https://newbiely.com/tutorials/arduino-nano-esp32/arduino-nano-esp32-28byj-48-stepper-motor-uln2003-driver
 */

// Include the AccelStepper Library
#include <AccelStepper.h>

#define STEP_PER_REVOLUTION 100 // 100=1024
const int modeSw = 12;
const int limitSw = 13;
int analogVal = 0;
int limitSwVal = 1;
bool limitSwFc = false;
int spdvar = 50;
int dstvar = STEP_PER_REVOLUTION/4;


// The Arduino Nano ESP32 pin entered in sequence IN1-IN3-IN2-IN4 for proper step sequence
AccelStepper stepper(AccelStepper::FULL4WIRE, 11, 9, 10, 8);

void setup() {
  pinMode(modeSw, INPUT_PULLUP);
  pinMode(limitSw, INPUT_PULLUP);
  Serial.begin(9600);
  stepper.setMaxSpeed(3000.0);   // set the maximum speed
  stepper.setAcceleration(1000.0); // set acceleration
  CalibCycle();

  
}

void loop() {


}

void CalibCycle() {

  Serial.println("Searching limit...");
  while (limitSwVal == 1){
    stepper.setSpeed(30);
    stepper.runSpeed();
    limitSwVal = digitalRead(limitSw);
  }
  if ((limitSwVal == 0)&&(limitSwFc==false)){
    stepper.setCurrentPosition(STEP_PER_REVOLUTION+10);
      while (stepper.currentPosition() != STEP_PER_REVOLUTION){
        stepper.setMaxSpeed(100);
        stepper.runToNewPosition(STEP_PER_REVOLUTION);
        Serial.println("Limit reached");
        }
    limitSwFc=true;
    Serial.println("Calibration done");
    //===================================Set after calibration settings==================
    stepper.setCurrentPosition(0);
    stepper.setMaxSpeed(3000.0);
    stepper.setAcceleration(1000.0);
    }
  
}