#define DIR_PIN 12
#define STEP_PIN 13
#define POTI_PIN 4

unsigned long systemtime = 0;
unsigned long target = 0;
int poti = 0;
int speed = 0;
int old_speed = 0;
bool direction = true; // clockwise

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println("Hello, ESP32-C6!");

  systemtime = millis();

  pinMode(DIR_PIN, OUTPUT);
  pinMode(STEP_PIN, OUTPUT);
  digitalWrite(DIR_PIN, direction);

  pinMode(POTI_PIN, INPUT);
}

void calc_target_time(){
  target = systemtime + speed*10;
}

void get_speed(){
  poti = analogRead(POTI_PIN);
  int new_speed = map(poti, 0, 4095, 200, 10); // map poti to speed
  if(new_speed != old_speed){
    speed = new_speed;
    Serial.println(new_speed);
    old_speed = new_speed;
    systemtime = millis();
    calc_target_time();
    Serial.println(target);
  }
}

void loop() {
  // put your main code here, to run repeatedly:
  get_speed();

  // 1.8° / step -> 200 steps for one turn
  systemtime = millis();
  if(systemtime >= target){
    Serial.println("stepping");
    calc_target_time();
    Serial.println(target);
    digitalWrite(STEP_PIN, HIGH); // pulse step pin
    delayMicroseconds(500); // wait half a ms to be sure
    digitalWrite(STEP_PIN, LOW);
  }

/*
  for(int i = 0; i < 200; i++){ //Steppers have 200 steps usually
    Serial.println("stepping");
    digitalWrite(STEP_PIN, HIGH); // pulse step pin
    delay(10);
    digitalWrite(STEP_PIN, LOW);
    delay(100);
  }
  Serial.println("turning around");
  direction = !direction; // turn around
  digitalWrite(DIR_PIN, direction);
*/
  delay(1); // this speeds up the simulation, default: 10
}