#include <Stepper.h>

#define encoderPinA 12
#define encoderPinB 13

// Motor specifications
const int stepsPerRevolution = 200; // Number of steps per revolution for your stepper motor

// Initialize the stepper library
Stepper stepperMotor(stepsPerRevolution, 2, 3);  // Pins connected to step and direction pins of A4988

int encoderPos = 0;             // Current position of the rotary encoder
int lastEncoderAState = 0;      // Previous state of the encoder A pin
int lastEncoderBState = 0;      // Previous state of the encoder B pin

// Desired rotation variables
float targetAngle = 30.0;       // Target angle in degrees
int targetSteps = 0;            // Target number of steps (calculated from the target angle)
int currentSteps = 0;           // Current steps taken by the motor
float currentAngle = 0;

unsigned long previousMillis = 0;  // To store last time the motor was stepped
const long interval = 50;         // Interval between steps (in milliseconds)


void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);

  stepperMotor.setSpeed(100); // Speed in RPM

  pinMode(encoderPinA, INPUT);
  pinMode(encoderPinA, INPUT);

  // Initialize encoder's previous states
  lastEncoderAState = digitalRead(encoderPinA);
  lastEncoderBState = digitalRead(encoderPinB);

  // Calculating the target steps based on the target angle
  targetSteps = angleToSteps(targetAngle);

}

void loop() {
  // put your main code here, to run repeatedly:
  unsigned long currentMillis = millis();

  // Check the encoder to update position
  int encoderAState = digitalRead(encoderPinA);
  int encoderBState = digitalRead(encoderPinB);

  // Detect rotation by comparing the current encoder state with the previous one
  if (encoderAState =! lastEncoderAState) {
    // Determine the direction of rotation based on the B channel state
    if (encoderBState =! encoderAState) {
      //Serial.println("Motor rotating clockwise");
      encoderPos++;
    } else {
      //Serial.println()("Motor rotating anti-clockwise");
      encoderPos--;
    }
  }

  // Update last states
  lastEncoderAState = encoderAState;
  lastEncoderBState = encoderBState;

  // Move the stepper motor based on the desired angle and stop once the target is reached
  while (currentSteps < targetSteps) {
    unsigned long currentMillis = millis();
    
    if (currentMillis - previousMillis >= interval) {
      previousMillis = currentMillis;
      stepperMotor.step(1);   // Step forward
      currentAngle = (targetSteps*360 / stepsPerRevolution);
      Serial.println(currentSteps);
      Serial.println(currentAngle);
      currentSteps++;         // Increment current steps
    }
  }
}
// Function to convert the desired angle into steps
int angleToSteps(float angle) {
  // (stepsPerRevolution / 360) gives the number of steps for 1 degree
  return (int)(angle * stepsPerRevolution / 360);
}