#include <AccelStepper.h>

// Define pin assignments
#define dirPin 8
#define stepPin 9
#define switchPin 6


const float maxSpeed = 1350; // Max speed (steps per second)
const float setAcceleration = 450; // Acceleration (steps per second^2)

int currentSwitchState = 0;        // current state of the Switch
int lastSwitchState = LOW;

AccelStepper stepper(AccelStepper::DRIVER, stepPin, dirPin);

void setup() {
  

  pinMode(switchPin, INPUT_PULLUP);
  pinMode(LED_BUILTIN, OUTPUT);
  
  stepper.setMaxSpeed(maxSpeed); 
  stepper.setAcceleration(setAcceleration); 

}

void loop() {
  
  // Read Switch state
  currentSwitchState = digitalRead(switchPin);

  
  if (currentSwitchState != lastSwitchState) {
  
    if (currentSwitchState == HIGH && lastSwitchState == LOW) {
      digitalWrite(LED_BUILTIN, HIGH);
      //Serial.println("Rotating 90 degrees clockwise");
      stepper.moveTo(16200);
    }

    if (currentSwitchState == LOW && lastSwitchState == HIGH) {
      digitalWrite(LED_BUILTIN, LOW);
      Serial.println("Rotating 90 degrees anti-clockwise");
      stepper.moveTo(0);
    }
  
  stepper.runToPosition();

  //Update last switch state
  lastSwitchState = currentSwitchState;

  }
}