// Motor Control Pins
#define STEP_PIN 18  // PUL+
#define DIR_PIN 19   // DIR+
#define ENABLE_PIN 21 // ENA+

// Button Pins
#define RESET_BUTTON 25
#define CW_BUTTON 26
#define CCW_BUTTON 27
#define FINE_CW_BUTTON 32
#define FINE_CCW_BUTTON 33

// Limit Switch Pin
#define LIMIT_SWITCH_PIN 34 // Connect to a limit switch for homing

// Motor Step Delay (Adjust for Speed)
#define STEP_DELAY 500  // Microseconds
#define FINE_STEP 10    // Number of steps for fine adjustment
#define ROUGH_STEP 100  // Number of steps for rough adjustment

void setup() {
  // Set motor pins as outputs
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(ENABLE_PIN, OUTPUT);

  // Enable the motor driver
  digitalWrite(ENABLE_PIN, LOW); // Active LOW

  // Set button pins as inputs with pull-up resistors
  pinMode(RESET_BUTTON, INPUT_PULLUP);
  pinMode(CW_BUTTON, INPUT_PULLUP);
  pinMode(CCW_BUTTON, INPUT_PULLUP);
  pinMode(FINE_CW_BUTTON, INPUT_PULLUP);
  pinMode(FINE_CCW_BUTTON, INPUT_PULLUP);

  // Set limit switch pin as input
  pinMode(LIMIT_SWITCH_PIN, INPUT_PULLUP);

  // Perform homing on power-on
  homeMotor();
}

void loop() {
  // Check Reset Button
  if (digitalRead(RESET_BUTTON) == LOW) {
    homeMotor(); // Reset to initial position
  }

  // Check CW Drive Button
  if (digitalRead(CW_BUTTON) == LOW) {
    driveMotor(true); // Drive CW
  }

  // Check CCW Drive Button
  if (digitalRead(CCW_BUTTON) == LOW) {
    driveMotor(false); // Drive CCW
  }

  // Check Fine CW Adjust Button
  if (digitalRead(FINE_CW_BUTTON) == LOW) {
    fineAdjust(true); // Fine adjust CW
  }

  // Check Fine CCW Adjust Button
  if (digitalRead(FINE_CCW_BUTTON) == LOW) {
    fineAdjust(false); // Fine adjust CCW
  }
}

// Function to move motor continuously in a direction
void driveMotor(bool clockwise) {
  digitalWrite(DIR_PIN, clockwise ? LOW : HIGH); // Set direction
  for (int i = 0; i < ROUGH_STEP; i++) { // Fine adjustment steps
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(STEP_DELAY);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(STEP_DELAY);
  }
  delay(200); // Debounce delay
}

// Function for fine adjustment
void fineAdjust(bool clockwise) {
  digitalWrite(DIR_PIN, clockwise ? LOW : HIGH); // Set direction
  for (int i = 0; i < FINE_STEP; i++) { // Fine adjustment steps
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(STEP_DELAY);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(STEP_DELAY);
  }
  delay(200); // Debounce delay
}

// Function to home the motor
void homeMotor() {
  digitalWrite(DIR_PIN, HIGH); // Move CCW towards the home position
  while (digitalRead(LIMIT_SWITCH_PIN) == HIGH) { // Wait until limit switch is triggered
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(STEP_DELAY);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(STEP_DELAY);
  }
  delay(1000); // Pause after homing
}