//Libraries used
#include <AccelStepper.h>
#include <AccelStepperWithDistance.h>

//Signal pins to driver card
#define STEP_PIN 4
#define DIR_PIN 3

//Create function with AccelStepperWithDistance
AccelStepperWithDistance stepper(AccelStepperWithDistance::DRIVER, STEP_PIN,DIR_PIN);

//Pins for control buttons
#define buttonCWpin 9
#define buttonCCWpin 10
#define buttonTrigpin 11

//Button initial states
boolean buttonCWpressed=false;
boolean buttonCCWpressed=false;
boolean buttonTrigpressed=false;



void setup() {
  // Initiallize Serial Monitor Communications
  Serial.begin(9600);
  Serial.println("Starting Precision Dispenser Prototype");

  //Stepper run parameters
  stepper.setMaxSpeed(1000);
  stepper.setAcceleration(500);
  stepper.setStepsPerRotation(200);
  stepper.setMicroStep(16);
  stepper.setDistancePerRotation(10);

  //Setup Input Pins
  pinMode(buttonCWpin, INPUT_PULLUP);
  pinMode(buttonCCWpin,INPUT_PULLUP);
  pinMode(buttonTrigpin, INPUT_PULLUP);

}

void loop() {
  // Main Program:
  readButtons();
  actOnButtons();
}

void readButtons()
{
  buttonCWpressed = false;
  buttonCCWpressed = false;
  buttonTrigpressed = false;
  if(digitalRead(buttonCWpin)==LOW)
  {
    buttonCWpressed=true;
    Serial.println("Clockwise button pressed");
  }
  if(digitalRead(buttonCCWpin)==LOW)
  {
    buttonCCWpressed=true;
    Serial.println("Counter-Clockwise button pressed");
  }
  if(digitalRead(buttonTrigpin)==LOW)
  {
    buttonTrigpressed=true;
    Serial.println("Trigger button pressed");
  }
}

void actOnButtons()
{
  if(buttonCWpressed == true)
  {
    digitalWrite(DIR_PIN, LOW);
    moveStepper();
  }
  if(buttonCCWpressed == true)
  {
    digitalWrite(DIR_PIN,HIGH);
    moveStepperNeg();
  }
  if(buttonTrigpressed == true)
  {
    digitalWrite(DIR_PIN, LOW);
    moveStepper();
  }
}

void moveStepper()
{
  stepper.runRelative(50);
  Serial.println("Position after dispense");
  Serial.println(stepper.getCurrentPositionDistance());
  stepper.runRelative(-5);
  Serial.println("Position after retract");
  Serial.println(stepper.getCurrentPositionDistance());
}

void moveStepperNeg()
{
  stepper.runRelative(-50);
  Serial.println("Position after Dispense");
  Serial.println(stepper.getCurrentPositionDistance());
  stepper.runRelative(5);
  Serial.println("Position after Retract");
  Serial.println(stepper.getCurrentPositionDistance());
}