#include <AccelStepper.h>

// Pin Definitions
#define DIR_PIN 3
#define STEP_PIN 2
#define BUTTON_1 4  // Move forward X steps
#define BUTTON_2 5  // Move back to 0
#define BUTTON_3 6  // Start/stop continuous forward/backward movement

// Parameters
const int X_STEPS = 200;       // Steps to move forward/backward
const int DEBOUNCE_DELAY = 10; // Debounce delay in ms

// Create AccelStepper object
AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);

// Variables
unsigned long lastButtonPress = 0;
bool continuousMode = false;  // Tracks if continuous mode is active
bool movingForward = true;    // Tracks direction in continuous mode

void setup() {
  pinMode(BUTTON_1, INPUT_PULLUP);
  pinMode(BUTTON_2, INPUT_PULLUP);
  pinMode(BUTTON_3, INPUT_PULLUP);

  stepper.setMaxSpeed(2000);       // Max speed (steps/sec)
  stepper.setAcceleration(1000);   // Acceleration (steps/sec^2)
  stepper.setCurrentPosition(0);   // Set starting position to 0
}

void loop() {
  stepper.run(); // Ensure the motor keeps running smoothly

  // Check for button presses with debounce
  if (millis() - lastButtonPress > DEBOUNCE_DELAY) {
    if (digitalRead(BUTTON_1) == LOW && stepper.currentPosition() == 0) {
      moveMotor(X_STEPS);  // Move forward X steps
    } 
    else if (digitalRead(BUTTON_2) == LOW && stepper.currentPosition() == X_STEPS) {
      moveMotor(-X_STEPS);  // Move back to 0
    } 
    else if (digitalRead(BUTTON_3) == LOW) {
      toggleContinuousMode();  // Toggle continuous mode
    }
  }

  // Handle continuous movement if active
  if (continuousMode && stepper.distanceToGo() == 0) {
    moveMotor(movingForward ? X_STEPS : -X_STEPS); // Alternate direction
    movingForward = !movingForward;               // Toggle direction
  }
}

// Move motor to a relative target
void moveMotor(int steps) {
  stepper.move(steps);             // Set relative target position
  lastButtonPress = millis();      // Update debounce time
}

// Toggle continuous forward/backward movement
void toggleContinuousMode() {
  continuousMode = !continuousMode;  // Toggle mode
  lastButtonPress = millis();        // Update debounce time

  if (!continuousMode) {
    // If stopping, return to the starting position
    stepper.moveTo(0);               // Absolute target: position 0
  }
}