// include the library code:

#include <Stepper.h>
#include <LiquidCrystal.h>

const int rs = 17, en = 16, d4 = 4, d5 = 0, d6 = 2, d7 = 15;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);

// Motor PAP
// change this to the number of steps on your motor
#define STEPS 200

// create an instance of the stepper class, specifying
// the number of steps of the motor and the pins it's
// attached to

Stepper stepper(STEPS, 5, 18, 19, 21);

// the previous reading from the analog input
int previous = 0;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println("Hello, ESP32!");
  // set up the LCD's number of columns and rows:
  lcd.begin(16, 2);
  // Print a message to the LCD.
  lcd.print("hello, ESP32!");
  // Motor PAP
  // Asignamos la velocidad en RPM (Revoluciones por Minuto)
  stepper.setSpeed(5);
   int val = analogRead(34);
}

void loop() {
  lcd.setCursor(0, 1);
  lcd.print("                           ");
  lcd.setCursor(0,1);
  // print the number of seconds since reset:
  
  // put your main code here, to run repeatedly:
  // get the sensor value
  int val = analogRead(34);
  lcd.print(val);
  int angulo = map(val,0,4095,-100,100);
  lcd.setCursor(7, 1);
  lcd.print("Ang: ");
  lcd.setCursor(12,1);
  lcd.print(angulo);

    // Movemos el motor un número determinado de paso
  stepper.step(angulo - previous);

  // remember the previous value of the sensor
  previous = angulo;

  
  //stepper.step(angulo);
  delay(100);

}