int FORWARD = 1;
int REVERSE = 0;

int IR5_status = 0;

/*** IRSensor5 ***/
int IR5 = 23; //GPIO23---23 of Nodemcu--IR5


/*** Stepper Motor 2 ***/
int STEP_PIN_2 = 22; //GPIO22---22 of Nodemcu--Step of stepper motor driver
int DIR_PIN_2  = 1; //GPIO1---Tx of Nodemcu--Direction of stepper motor driver
int Sleep_2 = 2; //GPIO2---2 of Nodemcu-Control Sleep Mode on A4988
int MS1_2 = 16; //GPIO16---16 of Nodemcu--MS1 for A4988
int MS2_2 = 4; //GPIO4---4 of Nodemcu--MS2 for A4988
int MS3_2 = 0; //GPIO0---0 of Nodemcu--MS3 for A4988


/*** IRSensor6 ***/
int IR6 = 21; //GPIO21---21 of Nodemcu--IR6


/*** Stepper Motor 3 ***/
int STEP_PIN_3 = 19; //GPIO19---19 of Nodemcu--Step of stepper motor driver
int DIR_PIN_3  = 18; //GPIO18---18 of Nodemcu--Direction of stepper motor driver
int Sleep_3 = 35; //GPIO35---35 of Nodemcu-Control Sleep Mode on A4988
int MS1_3 = 36; //GPIO16---VP of Nodemcu--MS1 for A4988
int MS2_3 = 39; //GPIO4---VN of Nodemcu--MS2 for A4988
int MS3_3 = 34; //GPIO0---34 of Nodemcu--MS3 for A4988


/*** DC Motor ***/
int DCMotor = 5; //GPIO5---5 of Nodemcu--DC Motor


/*** IRSensor7 ***/
int IR7 = 17; //GPIO17---17 of Nodemcu--IR7

/* Motor on till IR detects */
void stepMotor(int dir_pin, int step_pin, int direction, int IR_SENSOR){
  int IR_STATUS = 0;
  digitalWrite(dir_pin, direction); // Write 1 to the direction pin to make the stepper rotates CW ,and 0 to make it rotates CCW
  while(1){
    digitalWrite(step_pin, HIGH);  // This sends a HIGH signal (logic 1) to the STEP_PIN, instructing the stepper driver to take a step
    delayMicroseconds(700);        // Waits 500 microseconds (0.5 milliseconds) to ensure the driver registers the step
    digitalWrite(step_pin, LOW);   // This sends a LOW signal (logic 0) to the STEP_PIN, completing the step pulse
    delayMicroseconds(700);        // Another 500-microsecond delay before sending the next step pulse, controlling the motor’s speed
    IR_STATUS = digitalRead(IR_SENSOR);
    if(IR_STATUS == 0){
      break;
    }
  }
}

/* Stepper Motor ON for a period of time */
void StepperON(int dir_pin, int step_pin, int direction, int Tperiod_ms){
  int StartTime = millis();
  digitalWrite(dir_pin, direction); // Write 1 to the direction pin to make the stepper rotates CW ,and 0 to make it rotates CCW
  while(millis() - StartTime < Tperiod_ms){
    digitalWrite(step_pin, HIGH);  // This sends a HIGH signal (logic 1) to the STEP_PIN, instructing the stepper driver to take a step
    delayMicroseconds(700);        // Waits 500 microseconds (0.5 milliseconds) to ensure the driver registers the step
    digitalWrite(step_pin, LOW);   // This sends a LOW signal (logic 0) to the STEP_PIN, completing the step pulse
    delayMicroseconds(700);        // Another 500-microsecond delay before sending the next step pulse, controlling the motor’s speed
  }
}

void setup() {
  Serial.begin(115200);
  pinMode(IR5, INPUT);    //Set IR5 as input

  pinMode(DIR_PIN_2, OUTPUT);   // Set DIR_PIN_2 as digital OUTPUT
  pinMode(STEP_PIN_2, OUTPUT);  // Set STEP_PIN_2 as digital OUTPUT

  pinMode(IR6, INPUT);    //Set IR6 as input

  pinMode(DIR_PIN_3, OUTPUT);   // Set DIR_PIN_3 as digital OUTPUT
  pinMode(STEP_PIN_3, OUTPUT);  // Set STEP_PIN_3 as digital OUTPUT

  pinMode(DCMotor, OUTPUT);    //Set DCMotor as output

  pinMode(IR7, INPUT);    //Set IR7 as input

}

void loop() {
  IR5_status = digitalRead(IR5);
  if(IR5_status == 0){
    Serial.println("IR5 --> Bottle Detected");
    delay(1000);
    stepMotor(DIR_PIN_2, STEP_PIN_2, FORWARD, IR6);  // Stepper 2 rotates till IR6 detects
    digitalWrite(DCMotor, HIGH);  // DC Motor ON
    StepperON(DIR_PIN_3, STEP_PIN_3, FORWARD, 3000); // Stepper 2 rotates FORWARD for 5 secs
    digitalWrite(DCMotor, LOW);  // DC Motor OFF
    delay(1000);
    StepperON(DIR_PIN_3, STEP_PIN_3, REVERSE, 3000); // Stepper 2 rotates REVERSE for 5 secs
    stepMotor(DIR_PIN_2, STEP_PIN_2, FORWARD, IR7);  // Stepper 2 rotates till IR7 detects
    
  }
  delay(10);
}