#include <Arduino.h>
#include "A4988.h"//A4988 stepper motor driver library.

// change this to the number of steps on your motor
#define MOTOR_STEPS 90

// create an instance of the stepper class, specifying
// the number of steps of the motor and the pins it's
// FLAPERON R
#define DIR 0
#define STEP 1
#define MS1 2
 #define MS2 20
 #define MS3 21
 A4988 stepper(MOTOR_STEPS, DIR, STEP, MS1, MS2, MS3);
//FLAPERON L
#define DIR 3
#define STEP 4
#define MS1 5
 #define MS2 20
 #define MS3 21
 A4988 stepper1(MOTOR_STEPS, DIR, STEP, MS1, MS2, MS3);
//STABILATOR R
#define DIR 6
#define STEP 7
#define MS1 8
 #define MS2 20
 #define MS3 21
 A4988 stepper2(MOTOR_STEPS, DIR, STEP, MS1, MS2, MS3);
//STABILATOR L
#define DIR 9
#define STEP 10
#define MS1 11
 #define MS2 20
 #define MS3 21
 A4988 stepper3(MOTOR_STEPS, DIR, STEP, MS1, MS2, MS3);
//DIRECTIE
#define DIR 12
#define STEP 13
#define MS1 14
 #define MS2 20
 #define MS3 21
 A4988 stepper4(MOTOR_STEPS, DIR, STEP, MS1, MS2, MS3);

int semnal_mansa_ruliu = 0;

int semnal_mansa_tangaj = 0;

int semnal_palonier = 0;

int actuator_flaperon_R = 0;

int actuator_flaperon_L = 0;

int actuator_stabilator_R = 0;

int actuator_stabilator_L = 0;

int actuator_directie = 0;

int flaps = 0;

int leading_edge_flap = 0;


int trimmer_tangaj = 0;
int previous = 0;// the previous reading from the analog input
int previous1 = 0;
int previous2 = 0;// the previous reading from the analog input
int previous3 = 0;
int previous4 = 0;
int flaps_decolare = 0;
void setup() {
 //FLAPERON R
  stepper.setRPM(150);//Setting the motor speed
  stepper.setMicrostep(4);
//FLAPERON L
 stepper1.setRPM(150);//Setting the motor speed
  stepper1.setMicrostep(4);
 //STABILATOR R
  stepper2.setRPM(150);//Setting the motor speed
  stepper2.setMicrostep(4);
//STABILATOR L
 stepper3.setRPM(150);//Setting the motor speed
  stepper3.setMicrostep(4);
  //DIRECTIE
 stepper4.setRPM(150);//Setting the motor speed
  stepper4.setMicrostep(4);

   pinMode(20, INPUT);
}

void loop() {
  // get the sensor value
 map(flaps_decolare, 0, 20, -90, 90);
  int semnal_mansa_ruliu = analogRead(26);
 int semnal_mansa_tangaj = analogRead(27);
 int semnal_palonier = analogRead(28);

//FLAPERON DREAPTA 

  actuator_flaperon_R=map(semnal_mansa_ruliu,0,1023,-90,90);//0 to 1023 is the sensor range, 0 to 400 is the stepper's stepping range.

  stepper.move((actuator_flaperon_R - previous));

  // remember the previous value of the sensor
  previous = actuator_flaperon_R;

//FLAPERON STANGA

  actuator_flaperon_L=map(semnal_mansa_ruliu,0,1023,90,-90);//0 to 1023 is the sensor range, 0 to 400 is the stepper's stepping range.

  stepper1.move((actuator_flaperon_L - previous1));

  // remember the previous value of the sensor
  previous1 = actuator_flaperon_L;


//STABILATOR DREAPTA 

  actuator_stabilator_R=map(semnal_mansa_tangaj,0,1023,-90,90);//0 to 1023 is the sensor range, 0 to 400 is the stepper's stepping range.

  stepper2.move((actuator_stabilator_R - previous2));

  // remember the previous value of the sensor
  previous2 = actuator_stabilator_R;

//STABILATOR STANGA

  actuator_stabilator_L=map(semnal_mansa_tangaj,0,1023,-90,90);//0 to 1023 is the sensor range, 0 to 400 is the stepper's stepping range.

  stepper3.move((actuator_stabilator_L - previous3));

  // remember the previous value of the sensor
  previous3 = actuator_stabilator_L;

//DIRECTIE

  actuator_directie=map(semnal_palonier,0,1023,90,-90);//0 to 1023 is the sensor range, 0 to 400 is the stepper's stepping range.

  stepper4.move((actuator_directie - previous4));

  // remember the previous value of the sensor
  previous4 = actuator_directie;

 // Flaps taxi
  if (digitalRead(20) == HIGH) {
   actuator_flaperon_R=map(semnal_mansa_ruliu,0,1023, -90, 90);//0 to 1023 is the sensor range, 0 to 400 is the stepper's stepping range.

  stepper.move((actuator_flaperon_R - previous));
   
  } else {
    
  }



}