#define trigPin 13
#define echoPin 10
#define stepPin 2
#define dirPin 5
#define enablePin 8

void setup() {
  // Initialize the pins
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(enablePin, OUTPUT);
  
  // Enable the stepper motor driver (enable pin is usually active LOW)
  digitalWrite(enablePin, LOW);  // Enable the driver

  Serial.begin(9600);  // Start the serial communication for debugging
}

void loop() {
  // Send a pulse to the trigPin to start the measurement
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  
  // Measure the time for the pulse to return to echoPin
  long duration = pulseIn(echoPin, HIGH);
  
  // Calculate the distance in cm (speed of sound is 343 m/s, so divide by 2 for round trip)
  long distance = (duration / 2) * 0.0344;

  // Print the distance for debugging
  Serial.print("Distance: ");
  Serial.println(distance);
  
  // If an object is detected within 10 cm, rotate the stepper motor
  if (distance < 10) {
    // Set the direction (HIGH for clockwise, LOW for counterclockwise)
    digitalWrite(dirPin, HIGH);  // For example, HIGH for clockwise rotation
    
    // Rotate the stepper motor by sending pulses to the stepPin
    for (int i = 0; i < 200; i++) {  // Adjust 200 for the number of steps to make a full rotation
      digitalWrite(stepPin, HIGH);
      delayMicroseconds(1000);  // Adjust speed (this controls how fast the motor turns)
      digitalWrite(stepPin, LOW);
      delayMicroseconds(1000);  // Adjust speed (this controls how fast the motor turns)
    }
  } else {
    // Stop the motor (no pulses sent to stepPin means motor stops)
    Serial.println("No object detected within 10 cm.");
  }
  
  delay(500);  // Wait before measuring again
}