// 定义电机控制用常量
const int dirPin = 16;  // 方向引脚
const int stepPin = 17; // 步进引脚
int pushButton = 19;
int pushButton2 = 18;
int pushButton3 = 14;

// 电机每圈步数
const int STEPS_PER_REV = 200;

// 消抖延迟时间
const int DEBOUNCE_DELAY = 50;

// 按键状态
int lastButtonState = HIGH; // 默认是高电平

void setup() {
  Serial.begin(9600);
  pinMode(stepPin, OUTPUT); 
  pinMode(dirPin, OUTPUT);
  pinMode(pushButton, INPUT);
  pinMode(pushButton2, INPUT);
  pinMode(pushButton3, INPUT);
}

void loop() {
  int buttonState = digitalRead(pushButton);
  int buttonState2 = digitalRead(pushButton2);
  int buttonState3 = digitalRead(pushButton3);

  // 消抖处理
  if (buttonState == LOW && lastButtonState == HIGH) {
    delay(DEBOUNCE_DELAY);
    buttonState = digitalRead(pushButton);
  }
  lastButtonState = buttonState;

  if (buttonState == LOW && buttonState2 == HIGH) {
    // 设置电机顺时针旋转
    digitalWrite(dirPin, LOW);
    rotateMotor();
    Serial.println("19-down");
  } 
  else if (buttonState == HIGH && buttonState2 == LOW) {
    digitalWrite(dirPin, HIGH);
    rotateMotor();
  } 
  else if (buttonState == HIGH && buttonState2 == HIGH && buttonState3 == LOW) {
    digitalWrite(dirPin, LOW);
    runMotorUntilStop();
  } 
  else {
    Serial.println("off");
  }
}
// 旋转函数
void rotateMotor() {
  for (int x = 0; x < STEPS_PER_REV; x++) {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(1000);
  }
}
//开始函数
void runMotorUntilStop() {
  while (true) {
    rotateMotor();
    Serial.println(digitalRead(pushButton3));
    if (digitalRead(pushButton3) == LOW) {
      delay(1000); // 可选：消抖延迟
      break;
    }
  }
}