/*
https://wokwi.com/projects/411094383161553921
Using https://github.com/drf5n/Wokwi-Chip-stepper-esc 
Built from 
https://wokwi.com/projects/410499111488041985

Demo of a simulated DC motor using a custom chip as an ESC
 to translate analog PWM into stepper steps.
 Encoder.h works on two quadrature signals like an encoder.

https://discord.com/channels/787627282663211009/887330958875967520/1290688230223642646

*/

/*
  Uno with Scope https://github.com/Dlloydev/Wokwi-Chip-Scope
  and stepper-esc https://github.com/drf5n/Wokwi-Chip-stepper-esc

  Wokwi Uno https://wokwi.com/projects/390819301187622913
  Wokwi Mega: https://wokwi.com/projects/390819455604080641
  Wokwi ESP32S3 https://wokwi.com/projects/404720144387009537

  See also https://wokwi.com/projects/359331973918199809

*/

#include <Encoder.h>

const byte INA = 10;
const byte INB = 9;
const byte trigPin = 3;
const byte PotPin = A0;

Encoder encoder(2,4);

void setup() {
  Serial.begin(115200);
  pinMode(INA, OUTPUT);
  pinMode(INB, OUTPUT);
  pinMode(trigPin, OUTPUT);
  analogWrite(trigPin,127);
}
 
void loop() {
  static int lastPot = -1;
  int pot = (analogRead(PotPin)-512)/2;
  if (pot != lastPot) {
    Serial.print("pot:");
    Serial.println(pot);
    lastPot = pot;
    if (pot >= 0) {
      analogWrite(INA, pot);
      analogWrite(INB, 0);
    } else {
      analogWrite(INA, 0);
      analogWrite(INB, -pot-1); // off by one fix
    }
  }
  encoder.read();
  report();
}

void report(){
  auto now = millis();
  const typeof(now) interval = 1000;
  static typeof(now) last = -interval;
  if(now - last >= interval){
    last+= interval;
    long enc = encoder.read();
    Serial.print("encoder:");
    Serial.print(enc);
    Serial.println();
  }
}