// Test: is int32 position overflow handled correctly?
// YES
// 2147483638, -2147483633, 25
// 2147483640, -2147483633, 23
// 2147483641, -2147483633, 22
// 2147483643, -2147483633, 20
// 2147483644, -2147483633, 19
// 2147483645, -2147483633, 18
// 2147483647, -2147483633, 16
// -2147483648, -2147483633, 15
// -2147483647, -2147483633, 14
// -2147483646, -2147483633, 13
// -2147483645, -2147483633, 12
// -2147483644, -2147483633, 11
// -2147483643, -2147483633, 10
// -2147483642, -2147483633, 9


// Include the AccelStepper library
#include <AccelStepper.h>

//  AccelStepper objects, mode 1=driver, step pin, dir pin  // 2,5; 3,6; 4,7  
AccelStepper stepper1 = AccelStepper(1, 2, 5);  

byte state1;
unsigned long timer1;
byte setpos;

unsigned long printTimer;

void setup() 
{
  Serial.begin(115200);

  // color driver init
  stepper1.setMaxSpeed(100);
  stepper1.setAcceleration(100);
  
  state1 = 1;
  
  // activate all motor drivers, active low
  pinMode(8, OUTPUT);
  digitalWrite(8, 0);  
    
}

void loop() 
{
 
  // color disk driving
  switch(state1)
  {
    case 0: //start stepping
      stepper1.setCurrentPosition(1000000); // werkt niet?
      stepper1.setMaxSpeed(100);
      //stepper1.setSpeed(100);
      stepper1.move(100);
      timer1 = millis();
      state1 = 1;
      stepper1.run();
      break;
      
    case 1: 
      if (millis() - timer1 >= 1000)
      {
        if (setpos == 0)
        {
          stepper1.setCurrentPosition(2147483000);  // int32 max = 2,147,483,647
          setpos = 1;
        }
        stepper1.move(50);
        timer1 = millis();
        //colorState = 2;
      }
      stepper1.run();
      break;
    
  }

  
  if (millis() - printTimer >= 20)
  {
    Serial.print(stepper1.currentPosition()); 
    Serial.print(", ");
    Serial.print(stepper1.targetPosition());
    Serial.print(", ");
    Serial.println(stepper1.distanceToGo());
        
    printTimer = millis();
  }

}