#include <AccelStepper.h>
#include <Preferences.h>

// Pines encoder
#define ENCODER_CLK 34   // Change this to the desired CLK pin on ESP32
#define ENCODER_DT 35   // Change this to the desired DT pin on ESP32
//#define ENCODER_SW 32

// Pines driver
#define MOTOR_STEP_PIN 17
#define MOTOR_DIR_PIN  16

// Límites giro reductor
#define MAX 10
#define MIN 0

AccelStepper motor(AccelStepper::DRIVER, MOTOR_STEP_PIN, MOTOR_DIR_PIN);

Preferences guarda; 

int lastClk = HIGH;

void setup() {
  Serial.begin(115200);
  pinMode(ENCODER_CLK, INPUT);
  pinMode(ENCODER_DT, INPUT);
  //pinMode(ENCODER_SW, INPUT_PULLUP);

  motor.setMaxSpeed(1000.0);
  motor.setAcceleration(500.0);

  guarda.begin("memoria", false); //Abrimos los namespace con permiso de lectura/escritura

}

void loop() {

  unsigned int posicion_red = guarda.getUInt("contador", 0);
  int newClk = digitalRead(ENCODER_CLK);
  int dtValue = digitalRead(ENCODER_DT);
  //int swValue = digitalRead(ENCODER_SW);

  if (newClk != lastClk) {
    lastClk = newClk;
    if (newClk == LOW && dtValue == HIGH) {
      if(posicion_red<MAX) {
        // Motor moves clockwise
        posicion_red++;
        guarda.putUInt("contador", posicion_red);
        motor.setSpeed(20);
        motor.runSpeed();
        Serial.println("Motor: Clockwise");
        Serial.print("Encoder Steps: ");
        Serial.println(posicion_red);
      }

    }
    if (newClk == LOW && dtValue == LOW) {
      if(posicion_red>MIN) {
        // Motor moves counterclockwise
        posicion_red--;
        guarda.putUInt("contadorr", posicion_red);
        motor.setSpeed(-20);
        motor.runSpeed();
        Serial.println("Motor: Counterclockwise");
        Serial.print("Encoder Steps: ");
        Serial.println(posicion_red);
      }
    }
  }
  //if (swValue==LOW){
  //  guarda.end();
  //  Serial.println("Restarting");
  //  delay(1000);
  //  ESP.restart();
  //}
}