#include <Bounce2.h>
#include <AccelStepper.h>

// Define pin connections for the first stepper motor
#define DIR_PIN1 23   
#define STEP_PIN1 22
#define BUTTON1_FW_PIN 5 // Forward button for motor 1
#define BUTTON1_BW_PIN 6  // Backward button for motor 1

// Define pin connections for the second stepper motor
#define DIR_PIN2 25 
#define STEP_PIN2 24 
#define BUTTON2_FW_PIN 4 // Forward button for motor 2
#define BUTTON2_BW_PIN 3  // Backward button for motor 2

// Define pins for controlling both motors
#define BUTTON_BOTH_FW_PIN 7  // Forward button for both motors
#define BUTTON_BOTH_BW_PIN 8  // Backward button for both motors

// Create button objects for motor 1
Bounce button1FW = Bounce();
Bounce button1BW = Bounce();

// Create button objects for motor 2
Bounce button2FW = Bounce();
Bounce button2BW = Bounce();

// Create button objects for controlling both motors
Bounce buttonBothFW = Bounce();
Bounce buttonBothBW = Bounce();

// Create stepper motor objects
AccelStepper stepper1(AccelStepper::DRIVER, STEP_PIN1, DIR_PIN1);
AccelStepper stepper2(AccelStepper::DRIVER, STEP_PIN2, DIR_PIN2);

void setup() {
  // Set pin modes for motor 1 buttons
  pinMode(BUTTON1_FW_PIN, INPUT_PULLUP);
  pinMode(BUTTON1_BW_PIN, INPUT_PULLUP);

  // Attach motor 1 buttons to Bounce2 library
  button1FW.attach(BUTTON1_FW_PIN);
  button1FW.interval(5);  // Debounce interval
  button1BW.attach(BUTTON1_BW_PIN);
  button1BW.interval(5); // Debounce interval

  // Set pin modes for motor 2 buttons
  pinMode(BUTTON2_FW_PIN, INPUT_PULLUP);
  pinMode(BUTTON2_BW_PIN, INPUT_PULLUP);

  // Attach motor 2 buttons to Bounce2 library
  button2FW.attach(BUTTON2_FW_PIN);
  button2FW.interval(5);  // Debounce interval
  button2BW.attach(BUTTON2_BW_PIN);
  button2BW.interval(5); // Debounce interval

  // Set pin modes for both motors buttons
  pinMode(BUTTON_BOTH_FW_PIN, INPUT_PULLUP);
  pinMode(BUTTON_BOTH_BW_PIN, INPUT_PULLUP);

  // Attach both motors buttons to Bounce2 library
  buttonBothFW.attach(BUTTON_BOTH_FW_PIN);
  buttonBothFW.interval(5);  // Debounce interval
  buttonBothBW.attach(BUTTON_BOTH_BW_PIN);
  buttonBothBW.interval(5); // Debounce interval

  // Set maximum speed and acceleration for the stepper motors
  stepper1.setMaxSpeed(1000); // Steps per second
  stepper1.setAcceleration(500); // Steps per second^2
  stepper2.setMaxSpeed(1000); // Steps per second
  stepper2.setAcceleration(500); // Steps per second^2
}

void loop() {
  // Update button states for motor 1
  button1FW.update();
  button1BW.update();

  // Update button states for motor 2
  button2FW.update();
  button2BW.update();

  // Update button states for both motors
  buttonBothFW.update();
  buttonBothBW.update();

  // Check if both motors forward button is pressed
  if (buttonBothFW.read() == LOW) {
    stepper1.setSpeed(500);  // Set speed for forward rotation
    stepper2.setSpeed(500);  // Set speed for forward rotation
    stepper1.runSpeed();     // Start rotation for motor 1
    stepper2.runSpeed();     // Start rotation for motor 2
  } 
  // Check if both motors backward button is pressed
  else if (buttonBothBW.read() == LOW) {
    stepper1.setSpeed(-500); // Set speed for backward rotation
    stepper2.setSpeed(-500); // Set speed for backward rotation
    stepper1.runSpeed();     // Start rotation for motor 1
    stepper2.runSpeed();     // Start rotation for motor 2
  } 
  // Check if forward button for motor 1 is pressed
  else if (button1FW.read() == LOW) {
    stepper1.setSpeed(500);  // Set speed for forward rotation
    stepper1.runSpeed();     // Start rotation
  } 
  // Check if backward button for motor 1 is pressed
  else if (button1BW.read() == LOW) {
    stepper1.setSpeed(-500); // Set speed for backward rotation
    stepper1.runSpeed();     // Start rotation
  } 
  // Check if forward button for motor 2 is pressed
  else if (button2FW.read() == LOW) {
    stepper2.setSpeed(500);  // Set speed for forward rotation
    stepper2.runSpeed();     // Start rotation
  } 
  // Check if backward button for motor 2 is pressed
  else if (button2BW.read() == LOW) {
    stepper2.setSpeed(-500); // Set speed for backward rotation
    stepper2.runSpeed();     // Start rotation
  } 
  // If no button is pressed, stop both motors
  else {
    stepper1.setSpeed(0);    // Stop motor 1
    stepper2.setSpeed(0);    // Stop motor 2
    stepper1.runSpeed();     // Apply the speed change for motor 1
    stepper2.runSpeed();     // Apply the speed change for motor 2
  }
}