#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);
//LEADING EDGE FLAP
#define DIR 15
#define STEP 16
#define MS1 17
 #define MS2 20
 #define MS3 21
 A4988 stepper5(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 viteza = 0;

int altitudine = 0;

int trimmer_tangaj_fata = 0;
int trimmer_ruliu_dreapta = 0;
int trimmer_tangaj_spate = 0;
int trimmer_ruliu_stanga = 0;


int stabilator_R_viraj_dreapta = 0;
int stabilator_L_viraj_dreapta = 0;


int stabilator_R_stabilizare = 0;
int stabilator_L_stabilizare = 0;


int flaps_0 = 0;
int flaps_2 = 0;
int flaps_actionat = 0;
int leading_edge_2 = 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 previous5 = 0;
int previous6 = 0;
int previous7 = 0;
int previous8 = 0;
int previous9 = 0;
int previous10 = 0;
int previous11 = 0;
int previous12 = 0;
int previous13 = 0;
int previous14 = 0;
int previous15 = 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);
//LEADING EDGE FLAP
 stepper5.setRPM(150);//Setting the motor speed
  stepper5.setMicrostep(4);

   pinMode(20, INPUT);
  
   pinMode(21, INPUT);
flaps_0 = 0;
flaps_2 = -2;  
flaps_actionat = 20;
leading_edge_2 = -2;
stabilator_R_viraj_dreapta = -90;
stabilator_L_viraj_dreapta = 90;

}

void loop() {
  // get the sensor value
  int semnal_mansa_ruliu = analogRead(26);
 int semnal_mansa_tangaj = analogRead(27);
 int semnal_palonier = analogRead(28);
 int trimmer_tangaj = analogRead(28);

   viteza = digitalRead(21);
   altitudine = digitalRead(20);

//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 (viteza == HIGH ) {
    

 stepper5.move((leading_edge_2 - previous5));
  previous5 = leading_edge_2;
  } else {
   stepper5.move((leading_edge_2 - previous5));
  previous5 = leading_edge_2;
  }



// Stabilator viraj dreapta
  if (semnal_mansa_ruliu > 980 && semnal_mansa_tangaj > 980) {
  

       stepper2.move((stabilator_R_viraj_dreapta - previous10));
  previous10 = stabilator_R_viraj_dreapta;

 stepper3.move((stabilator_L_viraj_dreapta - previous11));
  previous11 = stabilator_L_viraj_dreapta;
    
  }

 //PILOT AUTOMAT

 








delay(100);
}