class StepperMotor {
private:
  int pinEnable, pinStep, pinDirection;
  int stepsPerRevolution;
  
public:
  StepperMotor(int enablePin, int stepPin, int directionPin, int stepsPerRev = 200) {
    pinEnable = enablePin;
    pinStep = stepPin;
    pinDirection = directionPin;
    stepsPerRevolution = stepsPerRev;
    
    pinMode(pinEnable, OUTPUT);
    pinMode(pinStep, OUTPUT);
    pinMode(pinDirection, OUTPUT);
    
    digitalWrite(pinEnable, HIGH);  // A4988: HIGH = disabilitato inizialmente
    digitalWrite(pinStep, LOW);
    digitalWrite(pinDirection, LOW);
  }
  
  void enableMotor() {
    digitalWrite(pinEnable, LOW);   // A4988: LOW = abilitato
  }
  
  void disableMotor() {
    digitalWrite(pinEnable, HIGH);  // A4988: HIGH = disabilitato
  }
  
  void setDirection(bool clockwise) {
    digitalWrite(pinDirection, clockwise ? HIGH : LOW);
  }
  
  void stepMotor(int steps, int delayMs = 10) {
    enableMotor();
    delay(1);  // Piccola pausa per stabilizzare l'enable
    
    for (int i = 0; i < abs(steps); i++) {
      digitalWrite(pinStep, HIGH);
      delay(delayMs);
      digitalWrite(pinStep, LOW);
      delay(delayMs);
    }
  }
  
  void rotateRevolutions(float revolutions, int speedDelay = 10) {
    int steps = (int)(abs(revolutions) * stepsPerRevolution);
    setDirection(revolutions > 0);
    stepMotor(steps, speedDelay);
  }
  
  void rotateDegrees(float degrees, int speedDelay = 10) {
    int steps = (int)(abs(degrees) * stepsPerRevolution / 360.0);
    setDirection(degrees > 0);
    stepMotor(steps, speedDelay);
  }
};

// Configurazione pin
const int ENABLE_PIN = 4;
const int STEP_PIN = 15;
const int DIRECTION_PIN = 2;
const int STEPS_PER_REVOLUTION = 200;

// Istanza del motore
StepperMotor motor(ENABLE_PIN, STEP_PIN, DIRECTION_PIN, STEPS_PER_REVOLUTION);

void setup() {
  Serial.begin(115200);
}

void loop() {
  Serial.println("Rotazione oraria completa...");
  motor.rotateRevolutions(1, 5);
  delay(1000);
  
  Serial.println("Rotazione antioraria completa...");
  motor.rotateRevolutions(-1, 5);
  delay(1000);
  
  Serial.println("Rotazione 90° orari...");
  motor.rotateDegrees(90, 8);
  delay(1000);
  
  Serial.println("Rotazione 90° antiorari...");
  motor.rotateDegrees(-90, 8);
  delay(1000);
  
  Serial.println("Rotazione veloce oraria...");
  motor.rotateRevolutions(1, 3);
  delay(1000);
  
  Serial.println("Rotazione veloce antioraria...");
  motor.rotateRevolutions(-1, 3);
  delay(2000);
  
  Serial.println("Sequenza completata. Ripetizione...\n");
  motor.disableMotor();
  delay(1000);
}