// Example sketch to control a stepper motor with A4988 stepper motor driver 
// and Arduino without a library. 
// More info: https://www.makerguides.com

// Define a default wait time
int WaitTime = 2000; //Set a default wait time of 2000ms / 2 seconds

//Define the enable pin
int EnPin = 8;
//Set Step and Direction Pins for Motor 1
int M1DirPin=5;
int M1StepPin = 2;


//Set Step and Direction Pins for Motor 2
int M2DirPin =  6;
int M2StepPin = 3;

//Set Step and Direction Pins for Motor 3
int M3DirPin = 7;
int M3StepPin = 4;

//Set Step and Direction Pins for Motor 4
int M4DirPin = 13;
int M4StepPin = 12;

#define StepsPerRevolution 200 //Assumes that all motors are the same and have 200 steps per revolution / 1.8 degree steps

void setup() {
// Set the inbuilt LED
pinMode(LED_BUILTIN, OUTPUT);


  // Declare motor pins as output:
  pinMode(M1StepPin, OUTPUT);
  pinMode(M1DirPin, OUTPUT);
  pinMode(M2StepPin, OUTPUT);
  pinMode(M2DirPin, OUTPUT);
  pinMode(M3StepPin, OUTPUT);
  pinMode(M3DirPin, OUTPUT);
  pinMode(M4StepPin, OUTPUT);
  pinMode(M4DirPin, OUTPUT);

//Enable the motors
  digitalWrite(EnPin, LOW);

// The built in LED will flash twice quickly during initial setup
  digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(500);                       // wait for half a second
  digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
  delay(500);                       // wait for half a second
 digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(500);                       // wait for half a second
  digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
  delay(500);                       // wait for half a second

Serial.begin(9600);

}

void loop() { //The code will repeat indefinitely

// The built in LED will flash each time the sequence restarts
  digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(1000);                       // wait for a second
  digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
  delay(1000);                       // wait for a second

  //Present the first target by spinning the first motor clockwise

Serial.println("Present Target 1");
 PresentTarget(1);


//Wait before retracting the target
          WaitTime=1000;
          delay(WaitTime);
Serial.println("Retract Target 1");
RetractTarget (1);

//Wait before presenting the second target
          delay(WaitTime);

//Present the second target by spinning the second motor clockwise
Serial.println("Present Target 2");
PresentTarget(2);

//Wait before retracting the second target
        delay(WaitTime);

//Retract the second target by spinning the second motor anti-clockwise
Serial.println("Retract Target 2");
RetractTarget(2);

//Wait before presenting the third target
          delay(WaitTime);


//Present the third target by spinning the third motor clockwise
Serial.println("Present Target 3");
PresentTarget(3);


//Wait before retracting the third target
         delay(WaitTime);

//Retract the third target by spinning the third motor anti-clockwise
Serial.println("Retract Target 3");
RetractTarget (3);

//Wait before presenting the fourth target
          delay(WaitTime);

//Present the fourth target by spinning the fourth motor clockwise
Serial.println("Present Target 4");
PresentTarget (4);
//Wait before retracting the fourth target
         delay(WaitTime);

//Retract the fourth target by spinning the fourth motor anti-clockwise
Serial.println("Retract Target 4");
RetractTarget (4);

//Wait again before restarting the sequence, speed is set by the potentiometer
          delay(WaitTime);

}

void PresentTarget (int TargetNumber){

int MotorDirPin;
int MotorStepPin;
Serial.println ("Presenting Target");
Serial.println(TargetNumber);

switch (TargetNumber) {
  case 1:{
    MotorDirPin=M1DirPin;
    MotorStepPin=M1StepPin;
    }
    break;
  case 2: {
    MotorDirPin=M2DirPin;
    MotorStepPin=M2StepPin;
  }
    break;

  case 3: {
    MotorDirPin=M3DirPin;
    MotorStepPin=M3StepPin;
    }
  case 4: {
    MotorDirPin=M4DirPin;
    MotorStepPin=M4StepPin;
    }
  default:{}
        break;
}
Serial.println("Using Motors. . .");
Serial.println(MotorDirPin);
Serial.println(MotorStepPin);
//Present the selected target by spinning the relevant motor clockwise

        // Set the spinning direction for the selected motor to clockwise:
        digitalWrite(MotorDirPin, HIGH);

        // Spin the stepper motor 90 degrees:
        for (int i = 0; i < StepsPerRevolution/4; i++) {
          // These four lines result in 1 step as the stepper motor steps on the rising edge of a digital wave - Transition from Low to High:
          digitalWrite(MotorStepPin, HIGH);
            delayMicroseconds(2000);
          digitalWrite(MotorStepPin, LOW);
          delayMicroseconds(2000);
        }
}

void RetractTarget (int TargetNumber){

int MotorDirPin;
int MotorStepPin;
Serial.println ("Retracting Target");
Serial.println(TargetNumber);

switch (TargetNumber) {
  case 1:{
    MotorDirPin=M1DirPin;
    MotorStepPin=M1StepPin;
  }
    break;
  case 2:{
    MotorDirPin=M2DirPin;
    MotorStepPin=M2StepPin;
  }
    break;

     case 3:{
    MotorDirPin=M3DirPin;
    MotorStepPin=M3StepPin;
  }
    break;

  case 4:{
    MotorDirPin=M4DirPin;
    MotorStepPin=M4StepPin;
  }
  default:
        break;
}
Serial.println ("Using Motors...");
Serial.println(MotorDirPin);
Serial.println(MotorStepPin);

//Retract the selected target by spinning the relevant motor clockwise

        // Set the spinning direction for the selected motor to clockwise:
        digitalWrite(MotorDirPin, LOW);

        // Spin the stepper motor 90 degrees:
        for (int i = 0; i < StepsPerRevolution/4; i++) {
          // These four lines result in 1 step as the stepper motor steps on the rising edge of a digital wave - Transition from Low to High:
          digitalWrite(MotorStepPin, HIGH);
            delayMicroseconds(2000);
          digitalWrite(MotorStepPin, LOW);
          delayMicroseconds(2000);
        }
}