//菜单
String SMSTR[]={
  "转速", //RPM_转速          0
  "加速度", //加速度            1
  "减速度", //减速度            2
  "反转脉冲", //反转脉冲          3
  "步进1正转脉冲", //步进1 正转脉冲   4
  "步进2正转脉冲", //步进2 正转脉冲   5
  "步进3正转脉冲", //步进3 正转脉冲   6
  "步进4正转脉冲", //步进4 正转脉冲   7
};

int SMARG[]={
  500, //RPM_转速          0
  500, //加速度            1
  500, //减速度            2
  800, //反转脉冲          3
  32000, //步进1 正转脉冲   4
  32000, //步进2 正转脉冲   5
  32000, //步进3 正转脉冲   6
  32000, //步进4 正转脉冲   7
};

#include "A4988.h"
#define MOTOR_STEPS 200 //全步脉冲
#define MICROSTEPPING 16 //细分

#define SM1_DIR 8
#define SM1_STEP 9

#define SM2_DIR 6
#define SM2_STEP 7

#define SM3_DIR 4
#define SM3_STEP 5

#define SM4_DIR 2
#define SM4_STEP 3

A4988 stepper1(MOTOR_STEPS, SM1_DIR, SM1_STEP);
A4988 stepper2(MOTOR_STEPS, SM2_DIR, SM2_STEP);
A4988 stepper3(MOTOR_STEPS, SM3_DIR, SM3_STEP);
A4988 stepper4(MOTOR_STEPS, SM4_DIR, SM4_STEP);

#include <Wire.h>
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27, 20, 4);

//独立按钮
#include <Bounce2.h>
#define Button_ST 18
Bounce2::Button stButton = Bounce2::Button();

void setup() {
  // put your setup code here, to run once:
  Wire.setSDA(16); //tried GP0-GP1, GP4-GP5
  Wire.setSCL(17);
  Wire.begin();
  
  Serial1.begin(115200);
  Serial1.println("Hello, Raspberry Pi Pico!");

  lcd.init();
  lcd.backlight();
  lcd.print("HelloWorld");

  stepper1.begin(SMARG[0],MICROSTEPPING);
  //stepper1.setSpeedProfile(BasicStepperDriver::LINEAR_SPEED, SMARG[1], SMARG[2]);//设置加速度

  stepper2.begin(SMARG[0],MICROSTEPPING);
  //stepper2.setSpeedProfile(BasicStepperDriver::LINEAR_SPEED, SMARG[1], SMARG[2]);//设置加速度

  stepper3.begin(SMARG[0],MICROSTEPPING);
  //stepper3.setSpeedProfile(BasicStepperDriver::LINEAR_SPEED, SMARG[1], SMARG[2]);//设置加速度

  stepper4.begin(SMARG[0],MICROSTEPPING);
  //stepper4.setSpeedProfile(BasicStepperDriver::LINEAR_SPEED, SMARG[1], SMARG[2]);//设置加速度

  stButton.attach(Button_ST, INPUT_PULLUP);

}

void loop() {
  // put your main code here, to run repeatedly:
  while(true){
    stButton.update();
    if(stButton.rose()){
      lcd.clear();
      lcd.setCursor(0,0);
      lcd.print("START");
      stepper1.move(3600);
      //stepper2.move(3600);
    }
  }
}