const int stepPin = 11; 
const int dirPin = 10; 
const int enPin = 12;
const int forwardBtnPin = 3; // Forward button pin

const int stepsSegment = 100; // Segment size (100 steps per segment)
const int totalStepsLimit = 500; // Total steps before returning to step 0

int stepCounter = 0; // Counter for total steps
int counter = 0; // Conveyor Move counter

void setup() { 
  pinMode(stepPin, OUTPUT); 
  pinMode(dirPin, OUTPUT); 
  pinMode(enPin, OUTPUT); 
  pinMode(forwardBtnPin, INPUT_PULLUP); // Button with pull-up resistor
  digitalWrite(enPin, LOW); // Enable the driver (assuming active low)
  
  Serial.begin(9600); // Initialize serial communication
}

void loop() { 
  bool forwardBtnState = digitalRead(forwardBtnPin) == LOW; // Button pressed (LOW)
  
  if (forwardBtnState) {
    // Move motor forward
    digitalWrite(dirPin, HIGH); // Set direction to forward
    moveMotor(stepsSegment); // Move motor in segments of 100 steps
    stepCounter += stepsSegment; // Update step counter
    counter++;
    Serial.print("TotalSteps:");
    Serial.print(stepCounter);
    Serial.print(" MoveCounter:");
    Serial.println(counter);


    // Check if total steps have reached the limit
    if (stepCounter >= totalStepsLimit) {
      // Move motor backward to reset position
      Serial.println("Total steps limit reached. Returning to step 0.");
      digitalWrite(dirPin, LOW); // Set direction to reverse
      moveMotor(totalStepsLimit); // Move back the total steps
      stepCounter = 0; // Reset the step counter to 0
      Serial.println("Returned to step 0.");
    }
    
    // Wait until the button is released to avoid multiple triggers
    while (digitalRead(forwardBtnPin) == LOW) {
      delay(10); // Small delay to avoid busy-waiting
    }
    
    delay(1000); // One second delay to separate button presses
  }
}

// Function to move motor in specified segment size
void moveMotor(int steps) {
  for (int x = 0; x < steps; x++) { 
    digitalWrite(stepPin, HIGH); 
    delayMicroseconds(500); 
    digitalWrite(stepPin, LOW); 
    delayMicroseconds(500); 
  }
}