// Define pins
const int potPin = 2;         // Potentiometer connected to analog pin (GPIO 34)
const int stepPin = 16;        // Stepper motor step pin connected to GPIO 16
const int dirPin = 4;          // Stepper motor direction pin connected to GPIO 4
const int enablePin = 0;       // Stepper motor enable pin connected to GPIO 0 (optional)

// Variables
int potValue = 0;              // Variable to store potentiometer value
int lastPotValue = 0;          // Variable to store the last potentiometer value
int stepsPerRevolution = 200;  // Full steps per revolution for the stepper motor
int totalSteps = stepsPerRevolution * 10;  // Total steps for 10 full revolutions
int stepDelay = 1500;          // Delay between steps in microseconds

void setup() {
  // Initialize serial communication for debugging
  Serial.begin(115200);

  // Set stepper motor pins as output
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(enablePin, OUTPUT);

  // Enable the motor
  digitalWrite(enablePin, LOW);  // Enable motor driver (set LOW to enable)
}

void loop() {
  // Read the potentiometer value (0 to 4095 for ESP32)
  potValue = analogRead(potPin);

  // Map the potentiometer value to a larger range of steps (0 to totalSteps)
  int targetPosition = map(potValue, 0, 4095, 0, totalSteps);

  // Determine direction based on potentiometer movement
  if (targetPosition > lastPotValue) {
    digitalWrite(dirPin, HIGH);  // Set direction to forward (clockwise)
  } else if (targetPosition < lastPotValue) {
    digitalWrite(dirPin, LOW);   // Set direction to reverse (counterclockwise)
  }

  // Calculate the number of steps to move
  int stepsToMove = abs(targetPosition - lastPotValue);

  // Move the stepper motor by the required number of steps
  for (int i = 0; i < stepsToMove; i++) {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(stepDelay);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(stepDelay);
  }

  // Update last potentiometer value
  lastPotValue = targetPosition;

  // Optional: Add a small delay to avoid jitter
  delay(10);
}