/*  AccelStepper6AxisArrayStruct.ino

See https://forum.arduino.cc/t/6-accelsteppers-as-an-array-of-struct-array-of-class-array-of-object/1311789/ and 
https://wokwi.com/projects/411859783629453313 for some some parent sketches

This simulation demonstrates bouncing 6 stepper motors between different
limits while simultaneously reading potentiomters to adust speed 
acceleration, and target positions during moves.

It also demonstrates use of an array of structs in order to
manage the steppers and their associated data together as a set.

https://wokwi.com/projects/428224295789685761

built from :
 https://wokwi.com/projects/411859783629453313
 and https://wokwi.com/projects/390741120778917889

*/
// For RAMPS 1.4, Copied from https://wokwi.com/projects/390741120778917889
// RAMPS pins from https://reprap.org/wiki/RAMPS_1.4#Pins & https://forum.arduino.cc/t/arduino-mega-use-analog-pins-as-digital/13844/6?u=davex
// with auxiliary pins for axis C controls and A,B,C min pins

#define X_DIR_PIN          55
#define X_STEP_PIN         54
#define X_ENABLE_PIN       38
#define X_MIN_PIN           3

#define Y_DIR_PIN          61
#define Y_STEP_PIN         60
#define Y_ENABLE_PIN       56
#define Y_MIN_PIN          14

#define Z_DIR_PIN          48
#define Z_STEP_PIN         46
#define Z_ENABLE_PIN       62
#define Z_MIN_PIN          18

#define A_DIR_PIN          28
#define A_STEP_PIN         26
#define A_ENABLE_PIN       24
#define A_MIN_PIN 27

#define B_DIR_PIN          34
#define B_STEP_PIN         36
#define B_ENABLE_PIN       30
#define B_MIN_PIN 29
// 
#define C_DIR_PIN          32
#define C_STEP_PIN         47
#define C_ENABLE_PIN       45
#define C_MIN_PIN 25

#import <AccelStepper.h> // https://www.airspayce.com/mikem/arduino/AccelStepper/
// and https://github.com/waspinator/AccelStepper

// Assemble an array of structures
struct MyStruct {
  const char *name;
  const AccelStepper stepper;
  int enablePin;
  int button;
} stepperAssemblies[] = {
  {"X", {AccelStepper::DRIVER, X_STEP_PIN, X_DIR_PIN}, X_ENABLE_PIN,X_MIN_PIN},
  {"Y", {AccelStepper::DRIVER, Y_STEP_PIN, Y_DIR_PIN}, Y_ENABLE_PIN,Y_MIN_PIN},
  {"Z", {AccelStepper::DRIVER, Z_STEP_PIN, Z_DIR_PIN}, Z_ENABLE_PIN,Z_MIN_PIN},
  {"A", {AccelStepper::DRIVER, A_STEP_PIN, A_DIR_PIN}, A_ENABLE_PIN,A_MIN_PIN},
  {"B", {AccelStepper::DRIVER, B_STEP_PIN, B_DIR_PIN}, B_ENABLE_PIN,B_MIN_PIN},
  {"C", {AccelStepper::DRIVER, C_STEP_PIN, C_DIR_PIN}, C_ENABLE_PIN,C_MIN_PIN},
};

const int NUM_STEPPERS = sizeof(stepperAssemblies) / sizeof(stepperAssemblies[0]);

void usage() {
  Serial.print(__FILE__ " on " __DATE__);
Serial.println(F(R"(AccelStepper6AxisRAMPSMega.ino V4_array_structs.ino
https://wokwi.com/projects/411859783629453313
Speed, acceleration change with potentiometers.
Bounce position changes with button press. )"));
}

const int PositionPin = A13, SpeedPin = A14, AccelPin = A15;
uint16_t position, speed, acceleration, lastPosition, lastSpeed, lastAccel; // pot-read

void readAllInputs() {
  uint32_t now = millis();
  const auto interval = 200;
  static auto last = - interval;
  if (now - last >= interval) {
    now += interval;
    speed = map(analogRead(SpeedPin), 0, 1023, 0, 2000);
    acceleration = map(analogRead(AccelPin), 0, 1023, 0, 2000);
    position = map(analogRead(PositionPin), 0, 1023, 0, 2000);

    for (auto &obj : stepperAssemblies) {
      if (digitalRead(obj.button) == LOW && obj.stepper.targetPosition() != position) {
        Serial.print("Retargeting stepper ");
        Serial.print(obj.name);
        Serial.print(" to ");
        Serial.println(position);
        obj.stepper.moveTo(position);
      }
    }
  }
}

void process() {
  if (acceleration != lastAccel || speed != lastSpeed) {
    for ( auto & assy : stepperAssemblies) {
      assy.stepper.setAcceleration(acceleration);
      assy.stepper.setMaxSpeed(speed);
      lastSpeed = speed;
      lastAccel = acceleration;
    }
    Serial.print("Speed:");
    Serial.print(speed);
    Serial.print(" Acceleration:");
    Serial.println(acceleration);
  }
}

void enableAllSteppersParallel() {
  for (auto &assy : stepperAssemblies) {
    assy.stepper.setEnablePin(assy.enablePin);
    assy.stepper.setPinsInverted(false, false, true);
    assy.stepper.enableOutputs();
    assy.stepper.setMaxSpeed(1000);
    assy.stepper.setAcceleration(100);
    assy.stepper.moveTo(random(2000));
    pinMode(assy.button, INPUT_PULLUP);
  }
}

void enableAllSteppers() {
  for (auto &obj : stepperAssemblies) {
    obj.stepper.setEnablePin(obj.enablePin);
    obj.stepper.setPinsInverted(false, false, true);
    obj.stepper.enableOutputs();
    obj.stepper.setMaxSpeed(1000);
    obj.stepper.setAcceleration(100);
    obj.stepper.moveTo(random(2000));
    pinMode(obj.button, INPUT_PULLUP);
    Serial.print("Initialized ");
    Serial.print(obj.name);
    Serial.print(" Stepper, enable Button Pin:");
    Serial.println(obj.button);
  }
}

void runAllSteppers() {
  for (auto &obj : stepperAssemblies) {
    if (obj.stepper.distanceToGo() == 0) {
      obj.stepper.moveTo(-obj.stepper.currentPosition());
      Serial.print(obj.name);
      Serial.print("@");
      Serial.print(obj.stepper.currentPosition());
      Serial.print(" ");
    }
    obj.stepper.run();
  }
}

// Arduino required #####################################

void setup() {
  srandom( 20241015 + analogRead(SpeedPin) + analogRead(AccelPin));
  Serial.begin(115200);
  enableAllSteppers();
  usage();
}

void loop() {
  readAllInputs();
  process();
  runAllSteppers();
}