#include <AccelStepper.h>

const int joyXPin = A0;
const int yButtonPin = 2;
const int relayButtonPin = 3;
const int relayPin = 4;

const int xStepPin = 9;
const int xDirPin = 10;
const int yStepPin = 5;
const int yDirPin = 6;

bool relayState = false;
const float stepPerInch = 200; // Adjust based on your motor and setup

AccelStepper xAxisMotor(AccelStepper::DRIVER, xStepPin, xDirPin);
AccelStepper yAxisMotor(AccelStepper::DRIVER, yStepPin, yDirPin);

void setup() {
  Serial.begin(115200);
  pinMode(yButtonPin, INPUT_PULLUP);
  pinMode(relayButtonPin, INPUT_PULLUP);
  pinMode(relayPin, OUTPUT);
  digitalWrite(relayPin, LOW);

  xAxisMotor.setMaxSpeed(1000);
  xAxisMotor.setAcceleration(500);
  yAxisMotor.setMaxSpeed(1000);
  yAxisMotor.setAcceleration(500);
}

void loop() {
  int joyX = analogRead(joyXPin);
  int xSpeed = map(joyX, 0, 1023, -1000, 1000); // Map joystick to speed range

  xAxisMotor.setSpeed(xSpeed);
  xAxisMotor.runSpeed();

  int yButtonState = digitalRead(yButtonPin);
  int relayButtonState = digitalRead(relayButtonPin);

  // Move Y-axis motor 0.5 inches on button press
  if (yButtonState == LOW) {
    moveYMotor(0.5);
    delay(300); // Debounce delay
  }

  // Toggle relay on button press
  if (relayButtonState == LOW) {
    delay(50); // Debounce delay
    if (digitalRead(relayButtonState) == LOW) {
      relayState = !relayState;
      digitalWrite(relayPin, relayState ? HIGH : LOW);
      Serial.print("Relay is now: ");
      Serial.println(relayState ? "ON" : "OFF");
      while (digitalRead(relayButtonPin) == LOW); // Wait until the button is released
    }
  }

  delay(100);
}

void moveYMotor(float inches) {
  int steps = inches * stepPerInch;
  yAxisMotor.move(steps);
  yAxisMotor.runToPosition();
}