// arduino 1 master serovo

#include <Servo.h>
Servo servo;
const int stepPin = 6;   // Step pin for the stepper driver
const byte interruptPin = 3; // emergency stop input
const byte stopbutton = 2; // emergency stop input

const int ar1out = 8; // start command pin from arduino 1 to arduino 2 pin 8
const int ar2out = 9; // stop command pin from arduino 1 to arduino 2 pin number 3
const int but1 = 4; // button 1 start 
const int but2 = 5; // button 2 stop
const int enablepin = 11;
const int initialspeed = 11; // not used
int flag1,flag2,runflag;
float delayTime =0;


// changeable below parameters
const int startdelay = 3000; // arduino 2 time
const int startdelay2 = 3000; // steper start time after relay start

const int speed1 = 550; // 50percent speed in pulse per second
const int time1= 5000; // step1 stepper 0 to 50 time
const int time2 = 5000; //step2 stepper 50 to 100 time


void setup()
{
  Serial.begin(9600);
  pinMode(stepPin, OUTPUT);
  pinMode(enablepin, OUTPUT);
  pinMode(interruptPin, INPUT);
  attachInterrupt(digitalPinToInterrupt(interruptPin), intr, CHANGE);
  attachInterrupt(digitalPinToInterrupt(stopbutton), stop, CHANGE);


  pinMode(but1, INPUT);
  pinMode(but2, INPUT);
  pinMode(ar1out, OUTPUT);
   pinMode(ar2out, OUTPUT);




digitalWrite(enablepin, LOW);
digitalWrite(ar1out, LOW);
digitalWrite(ar2out, HIGH);

delay(1000);
}

void(* resetFunc) (void) = 0; //declare reset function @ address 0



void loop() 
{
delayTime = 0;
Serial.println("strated");
digitalWrite(ar1out, LOW);
flag1= digitalRead(but1);
if((flag1 == 1) && (runflag ==0)
{
  runflag = 1;
  digitalWrite(ar2out, LOW);
  digitalWrite(ar1out, HIGH);
  delay(1000);
  digitalWrite(ar1out, LOW);
  flag1=0;
  runflag = 1;
  delay(startdelay);
  digitalWrite(enablepin, HIGH);
  controlStepper(initialspeed, speed1, time1); 
}
else if(runflag == 1)
{
  idle();
}
}
void controlStepper(int initialSpeed, int finalSpeed, int accelTime) 
{
  // Calculate the total speed change and direction
  float speedChange = finalSpeed - initialSpeed;
  unsigned long startTime = millis();
  unsigned long elapsedTime = 0;
  while (elapsedTime <= accelTime) 
  {
    // Update elapsed time
    elapsedTime = millis() - startTime;

    // Calculate the current speed based on elapsed time using linear interpolation
    float currentSpeed = initialSpeed + speedChange * (float(elapsedTime) / accelTime);

    // Make sure speed stays within the valid range
    currentSpeed = constrain(currentSpeed, min(initialSpeed, finalSpeed), max(initialSpeed, finalSpeed));

    // Calculate the delay between steps in microseconds
    delayTime = 1000000.0 / currentSpeed;

    // Generate a single step pulse if currentSpeed is above 0
    if (currentSpeed > 0) 
    {
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(delayTime / 2);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(delayTime / 2);
    } 
    else 
    {
      break; // Stop if speed reaches 0
    }
  }

  // Ensure the stepper motor stops completely by setting the stepPin to LOW
  digitalWrite(stepPin, LOW);

  // Return to exit the function after completing the cycle
  return;
}

void intr() {
  digitalWrite(ar1out, LOW);
  digitalWrite(ar2out, HIGH);
  digitalWrite(stepPin, LOW);
  flag1= 0;
  flag2 = 0;
  digitalWrite(enablepin, HIGH);
  delay(1000);
  resetFunc();
}

void idle() {
  digitalWrite(stepPin, HIGH);
  delayMicroseconds(delayTime / 2);
  digitalWrite(stepPin, LOW);
  delayMicroseconds(delayTime / 2);
}

void stop() {
controlStepper(speed1, 0, time2); // Decelerate from 2000 to 0 steps/sec in 3 seconds
delay(stoptime);
controlStepper(11, speed1, time2); // Decelerate from 2000 to 0 steps/sec in 3 seconds


}