#define st_b 12
int m1s=2;
int m2s=3;
int m3s=4;
int m4s=10;
int m1d=5;
int m2d=6;
int m3d=7;
int m4d=9;
int ms1=0;
int md1=0;
int m_en=8;
int d_motor = 11;
int lv = 0;
int v_lv;
int v_lvm;
int f1=0;
int f2=0;
String cms = "";         // a String to hold incoming data
String cmm = "";
bool stringComplete = false;  // whether the string is complete
int mv = 0;
int p1=0;
int p2=0;
int p3=0;
int p4=0;
void setup() {
  pinMode(m1s, OUTPUT);
  pinMode(m2s, OUTPUT);
  pinMode(m3s, OUTPUT);
  pinMode(m4s, OUTPUT);
  pinMode(m1d, OUTPUT);
  pinMode(m2d, OUTPUT);
  pinMode(m3d, OUTPUT);
  pinMode(m4d, OUTPUT);
   pinMode(m_en, OUTPUT);
   pinMode(st_b, INPUT_PULLUP);
 Serial.begin(9600);
   cms.reserve(200);
   digitalWrite(m_en, HIGH);
    delay(1000);
   Serial.println("initialized");
   analogReference(EXTERNAL);
   analogWrite(d_motor, 0);
}

void loop() {
  v_lv = analogRead(lv); 
   v_lvm = map(v_lv, 0, 1023, 0, 255);
   if(digitalRead(st_b) == HIGH && f2==1){
     delay(200);
f2=0;
   }
    if(digitalRead(st_b) == LOW && f2==0 && f1==0){
      delay(200);
f2=1;
f1=1;


   }
    if(digitalRead(st_b) == LOW && f2==0 && f1==1){
      delay(200);
f2=1;
f1=0;


   }
   if(f1==1) analogWrite(d_motor, v_lvm);
   if(f1==0) analogWrite(d_motor, 0);
 /*
  mm_mv(2,5,0,100,10);
delay(1000);
 mm_mv(2,5,1,100,10);
 delay(1000);
 mm_mv(3,6,0,100,10);
delay(1000);
 mm_mv(3,6,1,100,10);
 delay(1000);
 mm_mv(4,7,0,100,10);
delay(1000);
 mm_mv(4,7,1,100,10);
 delay(1000);
 mm_mv(10,9,0,100,10);
delay(1000);
 mm_mv(10,9,1,100,10);
 delay(1000); */

 if (stringComplete) {
       cms.trim();
   int ix = cms.indexOf('-');
   if (ix == -1) 
    {
      //Serial.println("error");
      Serial.println("error1");
    }
else
    {
       cmm=cms.substring(ix+1,cms.length());
      mv=cmm.toInt(); 
       if (cms.indexOf("sp-") > -1) {
        if (mv == 1){
f1=1;
Serial.println("spindle on");
        }  
        if (mv == 0){
f1=0;
Serial.println("spindle off");
delay(200);
        }  
      } 
      if (cms.indexOf("p1-") > -1) {
        p1=mv; 
      } 
      if (cms.indexOf("p2-") > -1) {
        p2=mv; 
      } 
      if (cms.indexOf("p3-") > -1) {
        p3=mv; 
      } 
      if (cms.indexOf("p4-") > -1) {
        p4=mv;
        // p1 dir/mode 1 or 2,p2 motor 1 to 4, p3 step, p4 speed
        Serial.println(" ");
        Serial.print("p1-");
         Serial.print(p1); 
          Serial.print("p2-"); 
         Serial.print(p2);
          Serial.print("p3-"); 
         Serial.print(p3);
          Serial.print("p4-"); 
         Serial.print(p4);    
          //example  p1-1#p2-1#p3-2000#p4-2#   
          //example  p1-2#p2-1#p3-2000#p4-2#   
         switch (p2) {
                      case 1:
                          mm_mv(2,5,p1,p3,p4);
                        break;
                      case 2:
                        mm_mv(3,6,p1,p3,p4);
                         break;  
                         case 3:
                          mm_mv(4,7,p1,p3,p4);
                        break;
                      case 4:
                         mm_mv(10,9,p1,p3,p4);
                         break; 
                         }
                        /* switch (p1) {
                      case 1:
                           mm_f(ms, p3, p4);
                        break;
                      case 2:
                          mm_r(ms, p3, p4);
                         break;  
                         }*/
         p1=0;
         p2=0;
         p3=0;
         p4=0;
      } 

    }
cms = "";
 stringComplete = false;
    } 
}
void mm_mv(int ms,int md, int dr, int stp, int spd){
  digitalWrite(m_en, LOW);
  digitalWrite(ms, LOW);
  digitalWrite(md, LOW);
  if(dr ==2) digitalWrite(md, HIGH);
   if(dr ==1) digitalWrite(md, LOW);
  for (int i = 0; i < (stp) ; i++) {
digitalWrite(ms, HIGH);
delay(spd);
digitalWrite(ms, LOW);
delay(spd);
  }
   digitalWrite(ms, LOW);
  digitalWrite(md, LOW);
  digitalWrite(m_en, HIGH);
}


void serialEvent() {
  while (Serial.available()) {
    // get the new byte:
    char inChar = (char)Serial.read();
    // add it to the cms:
    cms += inChar;
    // if the incoming character is a newline, set a flag so the main loop can
    // do something about it:
    if (inChar == '#') {
      stringComplete = true;
    }
  }
}

/*
#define st_b 12
#define lm1 14
int d_motor = 44; 
int lv = 0;
const int stepsPerRevolution = 200;
int v_lv;
int v_lvm;
int f1=0;
int f2=0;
int f3=0;
int fm=0;
int p1=0;
int p2=0;
int p3=0;
int p4=0;
int m1[4]={4,5,3,2};//{A+,A+,B+,B-}
int m2[4]={10,11,9,8};
int m3[4]={16,15,17,18};
int m4[4]={20,19,21,22};
int ms[4];
String cms = "";         // a String to hold incoming data
String cmm = "";
bool stringComplete = false;  // whether the string is complete
int mv = 0;
void setup() {    
 analogReference(EXTERNAL); 
  pinMode(st_b, INPUT_PULLUP);
  pinMode(lm1, INPUT_PULLUP);
  pinMode(d_motor, OUTPUT);
  output_set_m(m1);
  output_set_m(m2); 
   output_set_m(m3);
  output_set_m(m4); 
  analogWrite(d_motor, 0);
  Serial.begin(9600);
   cms.reserve(200);
    delay(1000);
   Serial.println("initialized");
    mm_f(m1, 10, 13000);
     delay(1000);
      mm_r(m1, 1, 13000);
}

void loop() {
   v_lv = analogRead(lv); 
   v_lvm = map(v_lv, 0, 1023, 0, 255);
   if(digitalRead(st_b) == HIGH && f2==1){
     delay(200);
f2=0;
   }
    if(digitalRead(st_b) == LOW && f2==0 && f1==0){
      delay(200);
f2=1;
f1=1;


   }
    if(digitalRead(st_b) == LOW && f2==0 && f1==1){
      delay(200);
f2=1;
f1=0;


   }
   if(f1==1) analogWrite(d_motor, v_lvm);
   if(f1==0) analogWrite(d_motor, 0);
   if(digitalRead(lm1) == LOW && f3==0){ 
    f3 = 1;
     mm_f(m1, 100, 5000);
    }  
    if(digitalRead(lm1) == HIGH && f3==1){ 
       delay(200);
       mm_r(m2, 150, 5000);
    f3 = 0;
    delay(200);
    }  
    if (stringComplete) {
       cms.trim();
   int ix = cms.indexOf('-');
   if (ix == -1) 
    {
      //Serial.println("error");
      Serial.println("error1");
    }
else
    {
       cmm=cms.substring(ix+1,cms.length());
      mv=cmm.toInt(); 
      if (cms.indexOf("p1-") > -1) {
        p1=mv; 
      } 
      if (cms.indexOf("p2-") > -1) {
        p2=mv; 
      } 
      if (cms.indexOf("p3-") > -1) {
        p3=mv; 
      } 
      if (cms.indexOf("p4-") > -1) {
        p4=mv;
        // p1 dir/mode 1 or 2,p2 motor 1 to 4, p3 step, p4 speed
        Serial.println(" ");
        Serial.print("p1-");
         Serial.print(p1); 
          Serial.print("p2-"); 
         Serial.print(p2);
          Serial.print("p3-"); 
         Serial.print(p3);
          Serial.print("p4-"); 
         Serial.print(p4);    
         //example p1-1#p2-2#p3-200#p4-5000#     
         switch (p2) {
                      case 1:
                          mt_st(m1);
                        break;
                      case 2:
                         mt_st(m2);
                         break;  
                         case 3:
                          mt_st(m3);
                        break;
                      case 4:
                         mt_st(m4);
                         break; 
                         }
                         switch (p1) {
                      case 1:
                           mm_f(ms, p3, p4);
                        break;
                      case 2:
                          mm_r(ms, p3, p4);
                         break;  
                         }
         p1=0;
         p2=0;
         p3=0;
         p4=0;
      } 

    }
cms = "";
 stringComplete = false;
    } 
 
}
void mt_st(int mts[]){
  for(int i = 0; i < 4; i++){
     ms[i]=mts[i];
    }
}


void output_set_m(int mt[]){
for(int i = 0; i < 4; i++){
      pinMode(mt[i], OUTPUT);
    }
}
void mm_f(int m[], int stp, int spd){
  for (int i = 0; i < (stp) ; i++) {
    digitalWrite(m[0], HIGH);
    digitalWrite(m[1], LOW);
    digitalWrite(m[2], HIGH);
    digitalWrite(m[3], LOW);
    delayMicroseconds (spd);

    digitalWrite(m[0], LOW);
    digitalWrite(m[1], HIGH);
    digitalWrite(m[2], HIGH);
    digitalWrite(m[3], LOW);
    delayMicroseconds (spd);

    digitalWrite(m[0], LOW);
    digitalWrite(m[1], HIGH);
    digitalWrite(m[2], LOW);
    digitalWrite(m[3], HIGH);
    delayMicroseconds (spd);

    digitalWrite(m[0], HIGH);
    digitalWrite(m[1], LOW);
    digitalWrite(m[2], LOW);
    digitalWrite(m[3], HIGH);
    delayMicroseconds (spd);
  }
  digitalWrite(m[0], LOW);
    digitalWrite(m[1], LOW);
    digitalWrite(m[2], LOW);
    digitalWrite(m[3], LOW);
  delay(100);  // the motor will complete a full revolution then waits for a second
}
void mm_r(int mr[], int stp_r, int spd_r){
  for (int i = 0; i < (stp_r) ; i++) {
    digitalWrite(mr[0], HIGH);
    digitalWrite(mr[1], LOW);
    digitalWrite(mr[2], LOW);
    digitalWrite(mr[3], HIGH);
    delayMicroseconds (spd_r);

    digitalWrite(mr[0], LOW);
    digitalWrite(mr[1], HIGH);
    digitalWrite(mr[2], LOW);
    digitalWrite(mr[3], HIGH);
    delayMicroseconds (spd_r);

    digitalWrite(mr[0], LOW);
    digitalWrite(mr[1], HIGH);
    digitalWrite(mr[2], HIGH);
    digitalWrite(mr[3], LOW);
    delayMicroseconds (spd_r);

    digitalWrite(mr[0], HIGH);
    digitalWrite(mr[1], LOW);
    digitalWrite(mr[2], HIGH);
    digitalWrite(mr[3], LOW);
    delayMicroseconds (spd_r);
  }
  digitalWrite(mr[0], LOW);
    digitalWrite(mr[1], LOW);
    digitalWrite(mr[2], LOW);
    digitalWrite(mr[3], LOW);
  delay(100);  // the motor will complete a full revolution then waits for a second
}

void serialEvent() {
  while (Serial.available()) {
    // get the new byte:
    char inChar = (char)Serial.read();
    // add it to the cms:
    cms += inChar;
    // if the incoming character is a newline, set a flag so the main loop can
    // do something about it:
    if (inChar == '#') {
      stringComplete = true;
    }
  }
}
*/