#include <Arduino.h>
#include <AccelStepper.h>

#define LED_PIN 2         //  LED
#define PIR_PIN 4         //  sensor PIR
#define BUTTON_PIN 23     //  botão

#define MOTOR_X_STEP_PIN 5   
#define MOTOR_X_DIR_PIN 18    
#define MOTOR_Y_STEP_PIN 19   
#define MOTOR_Y_DIR_PIN 21    

volatile bool motionDetected = false;
volatile bool resetRequested = false; 
unsigned long ledOnTime = 0;
bool ledState = LOW;
bool ledBlinking = false;
unsigned long ledBlinkDuration = 20000; 
unsigned long ledBlinkInterval = 2000;  

AccelStepper motorX(AccelStepper::DRIVER, MOTOR_X_STEP_PIN, MOTOR_X_DIR_PIN);
AccelStepper motorY(AccelStepper::DRIVER, MOTOR_Y_STEP_PIN, MOTOR_Y_DIR_PIN);

void IRAM_ATTR handlePIR() {
  motionDetected = true;
}

void IRAM_ATTR handleButton() {
  resetRequested = true;
}

void setup() {
  pinMode(LED_PIN, OUTPUT);
  pinMode(PIR_PIN, INPUT);
  pinMode(BUTTON_PIN, INPUT_PULLUP); 

  attachInterrupt(digitalPinToInterrupt(PIR_PIN), handlePIR, RISING);

  attachInterrupt(digitalPinToInterrupt(BUTTON_PIN), handleButton, FALLING);

  // Configura os motores de passo
  motorX.setMaxSpeed(1000);
  motorX.setAcceleration(500); 
  motorY.setMaxSpeed(1000); 
  motorY.setAcceleration(500);
}

void loop() {
  if (resetRequested) {
    digitalWrite(LED_PIN, LOW);
    motorX.stop();
    motorY.stop();
    motorX.setCurrentPosition(0);
    motorY.setCurrentPosition(0);
    resetRequested = false;
    ledBlinking = false; 
    return;
  }

  if (motionDetected) {
    motionDetected = false;

    ledOnTime = millis();
    ledBlinking = true;

    unsigned long motorDelayStart = millis();
    
    while (millis() - motorDelayStart < 20000) {  
      if (ledBlinking) {
        unsigned long currentMillis = millis();
        if (currentMillis - ledOnTime >= ledBlinkInterval) {
          ledState = !ledState;
          digitalWrite(LED_PIN, ledState);
          ledOnTime = currentMillis;
        }
      }
    }

    digitalWrite(LED_PIN, LOW);
    motorX.moveTo(200); 
    motorY.moveTo(200);  
    while (motorX.isRunning() || motorY.isRunning()) {
      motorX.run();  
      motorY.run();  
    }
    
    ledBlinking = false; 
  }
  motorX.run();
  motorY.run();
}