#define STEP_PIN 2
#define DIR_PIN 5
#define ENABLE_PIN 8

#define RELAY1_PIN 10
#define RELAY2_PIN 11

#define BUTTON_FORWARD 12
#define BUTTON_BACKWARD 13
#define BUTTON_RIGHT 14
#define BUTTON_LEFT 15

void setup() {
  Serial.begin(9600);
  
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(ENABLE_PIN, OUTPUT);

  pinMode(RELAY1_PIN, OUTPUT);
  pinMode(RELAY2_PIN, OUTPUT);

  pinMode(BUTTON_FORWARD, INPUT_PULLUP);
  pinMode(BUTTON_BACKWARD, INPUT_PULLUP);
  pinMode(BUTTON_RIGHT, INPUT_PULLUP);
  pinMode(BUTTON_LEFT, INPUT_PULLUP);

  digitalWrite(ENABLE_PIN, LOW); // Enable the motor driver

  // Initialize relays to off
  digitalWrite(RELAY1_PIN, HIGH); // assuming active low relay
  digitalWrite(RELAY2_PIN, HIGH); // assuming active low relay
}

void loop() {
  // Check button states
  if (digitalRead(BUTTON_FORWARD) == LOW) {
    moveForward();
  } else if (digitalRead(BUTTON_BACKWARD) == LOW) {
    moveBackward();
  } else if (digitalRead(BUTTON_RIGHT) == LOW) {
    turnRight();
  } else if (digitalRead(BUTTON_LEFT) == LOW) {
    turnLeft();
  } else {
    stopMotors();
  }

  delay(100);
}

void moveForward() {
  digitalWrite(RELAY1_PIN, LOW); // Turn on relay 1 to power motor 1
  digitalWrite(RELAY2_PIN, LOW); // Turn on relay 2 to power motor 2

  digitalWrite(DIR_PIN, HIGH);
  for (int x = 0; x < 200; x++) {
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(10);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(10);
    Serial.print(RELAY1_PIN);
  }

  digitalWrite(RELAY1_PIN, HIGH); // Turn off relay 1 to stop motor 1
  digitalWrite(RELAY2_PIN, HIGH); // Turn off relay 2 to stop motor 2
}

void moveBackward() {
  digitalWrite(RELAY1_PIN, LOW); // Turn on relay 1 to power motor 1
  digitalWrite(RELAY2_PIN, LOW); // Turn on relay 2 to power motor 2

  digitalWrite(DIR_PIN, LOW);
  for (int x = 0; x < 200; x++) {
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(10);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(10);
  }

  digitalWrite(RELAY1_PIN, HIGH); // Turn off relay 1 to stop motor 1
  digitalWrite(RELAY2_PIN, HIGH); // Turn off relay 2 to stop motor 2
}

void turnRight() {
  digitalWrite(RELAY1_PIN, LOW); // Turn on relay 1 to power motor 1
  digitalWrite(RELAY2_PIN, HIGH); // Turn off relay 2 to stop motor 2

  digitalWrite(DIR_PIN, HIGH);
  for (int x = 0; x < 100; x++) {
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(10);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(10);
    Serial.print(RELAY1_PIN);
    Serial.print(RELAY2_PIN);
  }

  digitalWrite(RELAY1_PIN, HIGH); // Turn off relay 1 to stop motor 1
}

void turnLeft() {
  digitalWrite(RELAY1_PIN, HIGH); // Turn off relay 1 to stop motor 1
  digitalWrite(RELAY2_PIN, LOW); // Turn on relay 2 to power motor 2

  digitalWrite(DIR_PIN, HIGH);
  for (int x = 0; x < 100; x++) {
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(10);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(10);
  }

  digitalWrite(RELAY2_PIN, HIGH); // Turn off relay 2 to stop motor 2
}

void stopMotors() {
  digitalWrite(RELAY1_PIN, HIGH); // Turn off relay 1 to stop motor 1
  digitalWrite(RELAY2_PIN, HIGH); // Turn off relay 2 to stop motor 2
}