/*
  Arduino | coding-help
  Stepper seems to vibrate unnaturally
  E 01 X — 6/28/24 at 9:21 AM
  I am working on a project that allows a single stepper motor
  to be controlled by a 3 position switch to choose the rotating
  direction, a potentiometer to control the speed and 3 LEDs to
  show the status of these actions

  The code I ended up using works but barely
  I have the feeling there is somekind of interference or
  something with the motor which causes it to vibrate while
  rotating and I think it has something to do with my code;
  When I remove a select part of the code the stepper rotates as normal

  Anyone that can help me troubleshoot?
*/

// Pin definitions
const int STEP_PIN = 11;    // Pin to generate step signal
const int DIR_PIN = 10;     // Pin to set direction
const int EN_PIN = 12;      // Pin to enable/disable the stepper driver
const int L_DIR_PIN = 4;    // Left DIRECTIONAL PIN
const int R_DIR_PIN = 3;    // Right DIRECTIONAL PIN
const int EN_SW_PIN = 2;  // for test - 3-way switch emulation
const int EN_LED_PIN = 5;   // LED for stepper enabled
const int DIR_LED_PIN = 6;  // LED for direction indication
const int PWR_LED_PIN = 7;  // LED for system power
const int POT_PIN = A0;     // Pin connected to potentiometer

/**
   Function to generate a step signal to the stepper driver
   @param delayTime - The delay between steps to control speed
*/
void stepMotor(int delayTime) {
  digitalWrite(STEP_PIN, HIGH);
  delayMicroseconds(delayTime);
  digitalWrite(STEP_PIN, LOW);
  delayMicroseconds(delayTime);
}

void setup() {
  Serial.begin(115200);
  // Initialize pin modes
  pinMode(EN_SW_PIN, INPUT_PULLUP);
  pinMode(L_DIR_PIN, INPUT_PULLUP);
  pinMode(R_DIR_PIN, INPUT_PULLUP);
  //pinMode(POT_PIN, INPUT);
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(EN_PIN, OUTPUT);
  //pinMode(PWR_LED_PIN, OUTPUT);
  pinMode(EN_LED_PIN, OUTPUT);
  pinMode(DIR_LED_PIN, OUTPUT);
  // Disable the stepper driver on boot
  digitalWrite(EN_PIN, HIGH);

  // Turn on the power LED - there is one on the board...
  //digitalWrite(PWR_LED_PIN, HIGH);

  // Indicate Arduino has fully booted up - why?
  // Turn off enabled indicator
  digitalWrite(EN_LED_PIN, LOW);

  // Turn off direction indicator
  digitalWrite(DIR_LED_PIN, LOW);

}

void loop() {
  // Read the potentiometer value
  int potValue = analogRead(POT_PIN);
  // Map the potentiometer value to a delay range for speed control
  int delayTime = map(potValue, 0, 1023, 5000, 1000); // Adjust the range as needed

  // Read the switch position
  int switchL = digitalRead(L_DIR_PIN);
  int switchR = digitalRead(R_DIR_PIN);
  // for test in sim
  int switchEn = digitalRead(EN_SW_PIN);
  digitalWrite(DIR_LED_PIN, switchL ? LOW : HIGH);

  if (switchEn == LOW) {  // Enable switch is on
    //if (switchL && switchR)  {}  // if switch is in the middle
    digitalWrite(EN_PIN, LOW);
    digitalWrite(EN_LED_PIN, HIGH);
    if (switchL == LOW) {
      digitalWrite(DIR_PIN, HIGH);
      //digitalWrite(DIR_LED_PIN, HIGH);
    }
    if (switchR == LOW) {
      digitalWrite(DIR_PIN, LOW);
      //digitalWrite(DIR_LED_PIN, LOW);
    }
    stepMotor(delayTime);
  } else  { // Enable is off
    // Switch is in the middle position (OFF)
    digitalWrite(EN_PIN, HIGH);
    digitalWrite(EN_LED_PIN, LOW);
  }
}