#include <AccelStepper.h>

// Definisi pin
#define START_BUTTON A1
#define RESET_BUTTON A2
#define POTENSIO_A A0
#define POTENSIO_B A3
#define MOTOR1_STEP 12
#define MOTOR1_DIR 11
#define MOTOR2_STEP 9
#define MOTOR2_DIR 8
#define BUZZER_PIN 7
#define RELAY_PIN 10

// Konstanta motor
#define STEPS_PER_REV 200  // Step per 1 putaran penuh
#define DEGREE_TO_STEP (STEPS_PER_REV / 360.0)  // Konversi derajat ke step

// Inisialisasi motor stepper
AccelStepper motorA(1, MOTOR1_STEP, MOTOR1_DIR);
AccelStepper motorB(1, MOTOR2_STEP, MOTOR2_DIR);

bool running = false; // Status program

void setup() {
    pinMode(START_BUTTON, INPUT_PULLUP);
    pinMode(RESET_BUTTON, INPUT_PULLUP);
    pinMode(BUZZER_PIN, OUTPUT);
    pinMode(RELAY_PIN, OUTPUT);

    // Inisialisasi motor
    motorA.setMaxSpeed(500);
    motorA.setAcceleration(200);
    motorB.setMaxSpeed(500);
    motorB.setAcceleration(200);
    
    // Matikan buzzer & relay
    digitalWrite(BUZZER_PIN, LOW);
    digitalWrite(RELAY_PIN, LOW);  // Pastikan relay OFF saat awal
}

void loop() {
    // Cek tombol start
    if (digitalRead(START_BUTTON) == LOW && !running) {
        running = true;
        digitalWrite(RELAY_PIN, HIGH);  // Nyalakan relay saat tombol start ditekan
        delay(1000);  // Tunggu 1000ms sebelum menjalankan motor
        jalankanSiklus();
    }

    // Cek tombol reset
    if (digitalRead(RESET_BUTTON) == LOW) {
        resetMotor();
    }

    // Jika tidak sedang menjalankan siklus otomatis, kontrol manual dengan potensiometer
    if (!running) {
        kontrolPotensiometer();
    }
}

void jalankanSiklus() {
    // Urutan gerakan motor sesuai logika
    gerakMotor(22.5, 200);
    gerakMotor(45, 400);
    gerakMotor(67.5, 400);
    gerakMotor(90, 400);
    gerakMotor(112.5, 400);
    gerakMotor(135, 400);
    gerakMotor(157.5, 400);
    gerakMotor(180, 400);
    gerakMotor(202.5, 400);
    gerakMotor(225, 400);
    gerakMotor(247.5, 400);
    gerakMotor(270, 400);
    gerakMotor(292.5, 400);
    gerakMotor(315, 400);
    gerakMotor(337.5, 400);
    gerakMotor(360, 200);

    // Matikan relay setelah siklus selesai
    digitalWrite(RELAY_PIN, LOW);

    // Bunyi buzzer sebagai tanda selesai
    bunyiBuzzer();
    
    running = false;
}

void gerakMotor(float derajatA, int stepB) {
    motorA.move(derajatA * DEGREE_TO_STEP);
    motorB.move(stepB);
    
    while (motorA.distanceToGo() != 0 || motorB.distanceToGo() != 0) {
        motorA.run();
        motorB.run();
    }
}

void bunyiBuzzer() {
    for (int i = 0; i < 3; i++) {
        digitalWrite(BUZZER_PIN, HIGH);
        delay(200);
        digitalWrite(BUZZER_PIN, LOW);
        delay(200);
    }
}

void resetMotor() {
    motorA.stop();
    motorB.stop();
    motorA.setCurrentPosition(0);
    motorB.setCurrentPosition(0);
    digitalWrite(BUZZER_PIN, LOW);
    digitalWrite(RELAY_PIN, LOW);
    running = false;
}

void kontrolPotensiometer() {
    int potValueA = analogRead(POTENSIO_A);
    int potValueB = analogRead(POTENSIO_B);
    
    // Konversi nilai potensiometer ke kecepatan motor (-500 s/d 500)
    int speedA = map(potValueA, 0, 1023, -500, 500);
    int speedB = map(potValueB, 0, 1023, -500, 500);

    // Set kecepatan dan arah motor
    motorA.setSpeed(speedA);
    motorB.setSpeed(speedB);

    // Jalankan motor dalam mode real-time
    motorA.runSpeed();
    motorB.runSpeed();
}