#include <Servo.h>

#include <AccelStepper.h>

// Servo objects

Servo servo1; // Controlled by potentiometer 1

Servo servo2; // Controlled by potentiometer 1 (opposite direction)

Servo servo3; // Controlled by potentiometer 2

Servo servo4; // Controlled by potentiometer 3

Servo servo5; // Controlled by potentiometer 4

Servo servo6; // Controlled by potentiometer 5

// Define potentiometer pins for servos

const int potPin1 = A1; // Potentiometer for servo1 and servo2

const int potPin2 = A2; // Potentiometer for servo3

const int potPin3 = A3; // Potentiometer for servo4

const int potPin4 = A4; // Potentiometer for servo5

const int potPin5 = A5; // Potentiometer for servo6

// Stepper motor connections and motor interface type

#define STEP_PIN 2

#define DIR_PIN 4

// Create an instance of the AccelStepper class

AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);

// Potentiometer pin for stepper motor

const int potPinStepper = A0;

// New potentiometer for controlling stepper motor direction limits

const int potPinDirection = A6; // Potentiometer for direction control

// Define the maximum speed for your stepper motor

const int maxStepperSpeed = 1000; // Adjust this value as needed

void setup() {

// Attach servos to their respective pins

servo1.attach(3); // Servo 1

servo2.attach(5); // Servo 2

servo3.attach(6); // Servo 3

servo4.attach(9); // Servo 4

servo5.attach(10); // Servo 5

servo6.attach(11); // Servo 6

// Set the maximum speed and acceleration for the stepper motor

stepper.setMaxSpeed(maxStepperSpeed);

stepper.setAcceleration(500); // Adjust as needed

}
void loop() {

    // Read the potentiometer values for servos

    int potValue1 = analogRead(potPin1);

    int potValue2 = analogRead(potPin2);

    int potValue3 = analogRead(potPin3);

    int potValue4 = analogRead(potPin4);

    int potValue5 = analogRead(potPin5);


    // Map the potentiometer values to servo angles (0-180 degrees)

    int angle1 = map(potValue1, 0, 1023, 0, 180);

    int angle2 = map(potValue1, 0, 1023, 180, 0); // Opposite direction for servo2

    int angle3 = map(potValue2, 0, 1023, 0, 180);

    int angle4 = map(potValue3, 0, 1023, 0, 180);

    int angle5 = map(potValue4, 0, 1023, 0, 180);

    int angle6 = map(potValue5, 0, 1023, 0, 180);


    // Set the servo angles

    servo1.write(angle1);

    servo2.write(angle2);

    servo3.write(angle3);

    servo4.write(angle4);

    servo5.write(angle5);

    servo6.write(angle6);


    // Read the potentiometer value for the stepper motor

    int potValueStepper = analogRead(potPinStepper);


    // Read the potentiometer value for direction control

    int potValueDirection = analogRead(potPinDirection);


    // Determine the target speed based on the stepper potentiometer

    int targetSpeed = map(potValueStepper, 0, 1023, -maxStepperSpeed*2, maxStepperSpeed*2);


    // Check if the potentiometer value for the stepper motor is between 400 and 600

    if (potValueStepper >= 450 && potValueStepper <= 550) {

        targetSpeed = 0; // Stop the motor if the value is in the range

    }


    // Control the direction based on the new potentiometer value

    if (potValueDirection >= 1000) {

        // Disable right rotation

        if (targetSpeed > 0) {

            targetSpeed = 0; // Stop the motor if trying to spin right

        }

    } else if (potValueDirection < 20) {

        // Disable left rotation

        if (targetSpeed < 0) {

            targetSpeed = 0; // Stop the motor if trying to spin left

        }

    }


    // Set the speed of the stepper motor

    stepper.setSpeed(targetSpeed);


    // Run the stepper motor at the set speed

    stepper.runSpeed();


    // Add a small delay to allow the servos to move

    delay(15);

}