#include <IRremote.h>            // IR Remote Library
#include <AccelStepper.h>        // AccelStepper Library for stepper motor

// Define Sensor Pin
const int RECV_PIN = 4;

// Define Stepper Motor Pins
const int STEP_PIN = 6;
const int DIR_PIN = 7;
const int EN_PIN = 5;

// Create a stepper object
AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);

// Define variables
const int STEP_INCREMENT = 2500;   // STEPS TO MOVE WITH EACH BUTTON PRESS
const int MAX_POSITION = 5000;     // Maximum position (adjust as needed)
const int MIN_POSITION = -5000;    // Minimum position (adjust as needed)

int currentPosition = 0;         // Track stepper position

// Initialize last received code variable
unsigned long lastCode;

void setup() {
  // Set up the enable pin
  pinMode(EN_PIN, OUTPUT);

  Serial.begin(9600);              // Start Serial communication
  pinMode(LED_BUILTIN, OUTPUT);    // Built-in LED as an indicator

  // Start the IR receiver
  IrReceiver.begin(RECV_PIN, ENABLE_LED_FEEDBACK);

  // Disable the stepper motor
  digitalWrite(EN_PIN, HIGH); // LOW = Enable, HIGH = Disable

  // Configure the stepper motor
  stepper.setMaxSpeed(200);       // Set maximum speed (steps per second)
  stepper.setAcceleration(60);   // Set acceleration (steps per second^2)

  Serial.println("Setup complete. Ready to receive IR signals.");
}

void loop() {
  if (IrReceiver.decode()) {  // Check if an IR code is received
    unsigned long code = IrReceiver.decodedIRData.decodedRawData;

    Serial.print("Received code: 0x");
    Serial.println(code, HEX);

    if (code == 0xFFFFFFFF) {
      // Handle repeat codes
      code = lastCode;
    }

    if (code == 0xB847FF00) {  // Left button pressed
      Serial.println("Left button pressed. Moving stepper motor clockwise.");
      digitalWrite(LED_BUILTIN, HIGH);  // Flash LED as feedback
      delay(75);
      digitalWrite(LED_BUILTIN, LOW);

      if (currentPosition + STEP_INCREMENT <= MAX_POSITION) {
        digitalWrite(EN_PIN, LOW); // Enable the motor
        currentPosition += STEP_INCREMENT;  // Increment position
        stepper.moveTo(currentPosition);    // Move stepper to new position
      } else {
        Serial.println("Maximum position reached. Cannot move further.");
      }
    }

    if (code == 0xBA45FF00) {  // Right button pressed
      Serial.println("Right button pressed. Moving stepper motor counter-clockwise.");
      digitalWrite(LED_BUILTIN, HIGH);  // Flash LED as feedback
      delay(75);
      digitalWrite(LED_BUILTIN, LOW);

      if (currentPosition - STEP_INCREMENT >= MIN_POSITION) {
        digitalWrite(EN_PIN, LOW); // Enable the motor
        currentPosition -= STEP_INCREMENT;  // Decrement position
        stepper.moveTo(currentPosition);    // Move stepper to new position
      } else {
        Serial.println("Minimum position reached. Cannot move further.");
      }
    }

    if (code == 0xB946FF00) {  // Center button pressed
      Serial.println("Center button pressed. Returning stepper motor to center position.");
      digitalWrite(LED_BUILTIN, HIGH);  // Flash LED as feedback
      delay(75);
      digitalWrite(LED_BUILTIN, LOW);


      digitalWrite(EN_PIN, LOW); // Enable the motor
      currentPosition = 0;              // Reset position to center
      stepper.moveTo(currentPosition);  // Move stepper to center
    }

    lastCode = code;  // Store the last received code
    delay(30);        // Short delay to avoid false readings
    IrReceiver.resume();  // Ready to receive the next signal
  }

  // Continuously run the stepper motor to reach the target position
  stepper.run();

  // Disable the motor when the target position is reached
  if (stepper.distanceToGo() == 0) {
    digitalWrite(EN_PIN, HIGH);
  }
}