#include <AccelStepper.h>

// Define the motor interface type. Can be full step, half step, etc.
#define MotorInterfaceType 1

// Define motor connections and motor interface type. Motor 1
#define dirPin1 11
#define stepPin1 10
AccelStepper stepper1(MotorInterfaceType, stepPin1, dirPin1);

// Motor 2
#define dirPin2 6
#define stepPin2 5
AccelStepper stepper2(MotorInterfaceType, stepPin2, dirPin2);

// Joystick pins
#define joyX A0
#define joyY A1
#define joyButton A2  // Assuming the button is connected to digital pin 6

// Steps per revolution for your stepper motor (change as per your motor specification)
#define stepsPerRevolution 200

void setup() {
  // Set the maximum speed and acceleration for each stepper
  stepper1.setMaxSpeed(100);
  stepper1.setAcceleration(500);

  stepper2.setMaxSpeed(100);
  stepper2.setAcceleration(500);

  // Initialize the joystick button pin
  pinMode(joyButton, INPUT_PULLUP);  // Using internal pull-up resistor

  // Initialize serial communication
  Serial.begin(9600);
}

void loop() {
  // Read joystick values
  int xValue = analogRead(joyX);
  int yValue = analogRead(joyY);
  bool buttonPressed = digitalRead(joyButton) == LOW;

  if (buttonPressed) {
    // If button is pressed, make both motors complete one full rotation
    stepper1.move(stepsPerRevolution);
    stepper2.move(stepsPerRevolution);

    // Move both motors to their target positions
    while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
      stepper1.run();
      stepper2.run();
    }
  } else {
    // Map joystick values to stepper speeds (-1000 to 1000)
    int motorSpeed1 = map(xValue, 0, 1023, -1000, 1000);
    int motorSpeed2 = map(yValue, 0, 1023, -1000, 1000);

    // Set motor speeds
    stepper1.setSpeed(motorSpeed1);
    stepper2.setSpeed(motorSpeed2);

    // Move the motors
    stepper1.runSpeed();
    stepper2.runSpeed();
  }

  // Print joystick values for debugging
  Serial.print("X: ");
  Serial.print(xValue);
  Serial.print(" Y: ");
  Serial.println(yValue);
}