#define STEP_PIN 3
#define DIR_PIN 4
#define ENABLE_PIN 5
#define MS1_PIN 6
#define MS2_PIN 7
#define MS3_PIN 8

int stepDelay = 1000;  
bool motorEnabled = false;  

void setup() {
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(ENABLE_PIN, OUTPUT);
  pinMode(MS1_PIN, OUTPUT);
  pinMode(MS2_PIN, OUTPUT);
  pinMode(MS3_PIN, OUTPUT);

  Serial.begin(9600);
  digitalWrite(ENABLE_PIN, HIGH);  
}

void loop() {
  if (Serial.available() > 0) {
    char command = Serial.read();
    
    switch (command) {
      case 'F':  
        digitalWrite(DIR_PIN, HIGH);
        Serial.println("Movendo para frente.");
        break;

      case 'B':  
        digitalWrite(DIR_PIN, LOW);
        Serial.println("Movendo para trás.");
        break;

      case '1':  
        digitalWrite(MS1_PIN, LOW);
        digitalWrite(MS2_PIN, LOW);
        digitalWrite(MS3_PIN, LOW);
        Serial.println("Modo de passo completo (1/1).");
        break;

      case '2':  
        digitalWrite(MS1_PIN, HIGH);
        digitalWrite(MS2_PIN, LOW);
        digitalWrite(MS3_PIN, LOW);
        Serial.println("Modo de meio passo (1/2).");
        break;

      case '4':  
        digitalWrite(MS1_PIN, LOW);
        digitalWrite(MS2_PIN, HIGH);
        digitalWrite(MS3_PIN, LOW);
        Serial.println("Modo de quarto passo (1/4).");
        break;

      case '8':  // Microstep 1/8
        digitalWrite(MS1_PIN, HIGH);
        digitalWrite(MS2_PIN, HIGH);
        digitalWrite(MS3_PIN, LOW);
        Serial.println("Modo de oitavo passo (1/8).");
        break;

      case 'E': 
        digitalWrite(ENABLE_PIN, LOW);
        motorEnabled = true;
        Serial.println("Motor habilitado.");
        break;

      case 'D':  
        digitalWrite(ENABLE_PIN, HIGH);
        motorEnabled = false;
        Serial.println("Motor desabilitado.");
        break;

      case 'S':  
        if (motorEnabled) {
          Serial.println("Movimento iniciado.");
        } else {
          Serial.println("O motor está desabilitado.");
        }
        break;
    }
  }

  if (motorEnabled && Serial.available() > 0) {
    char command = Serial.read();
    if (command == 'S') {
      moveMotor();
    }
  }
}

void moveMotor() {
  static unsigned long lastStepTime = 0;
  static bool stepState = LOW;
  
  unsigned long currentTime = millis();
  if (currentTime - lastStepTime >= (stepDelay / 1000)) {  
    lastStepTime = currentTime;
    stepState = !stepState;
    digitalWrite(STEP_PIN, stepState);
  }
}