/*
   Forum: https://forum.arduino.cc/t/protocol-for-avoiding-pointers/1394145
   Wokwi: https://wokwi.com/projects/436081346719270913

  Corrected version 
  * unsigned long steps to float
  * MICROSTEP_SIZE to floa

  2025/07/11
  ec2021

*/

#define NUM_ELEMENTS(_ArrayName) (sizeof(_ArrayName) / sizeof(_ArrayName[0]))

constexpr int CLOCKWISE {1};
constexpr int COUNTERCLOCKWISE {0};

constexpr long MOTOR_REV {0};
constexpr long DRIVER_MODE {0};

//constexpr long MICROSTEP_SIZE {1 / 8}; 
// Corrected 2025/07/11
constexpr float MICROSTEP_SIZE {1.0/8};


//******************************************************************************
class MotorClass {
  private:
    int stepPin;
    int dirPin;
    int direction;
    int rpm;
    long speed;
    bool run;
    // unsigned long steps = 0;
    // Corrected 2025/07/11
    float steps = 0;
  public:
    MotorClass(int _stepPin, int _dirPin, int _direction, int _rpm) {
      stepPin = _stepPin;
      dirPin = _dirPin;
      direction = _direction;
      rpm = _rpm;
      speed = 10000;  // ((60000000L) / ((long)rpm * ((long)MOTOR_REV * (long)DRIVER_MODE))) / 2;
      run = false;
    }
    void init() {
      pinMode(stepPin, OUTPUT);
      pinMode(dirPin, OUTPUT);
    }
    void setClockWise(boolean cw) {
      if (cw) {
        direction = CLOCKWISE;
      } else {
        direction = COUNTERCLOCKWISE;
      }
      digitalWrite(dirPin, direction); //Set the direction.
    }
    void toggleDirection() {
      setClockWise(direction == COUNTERCLOCKWISE);
    }
    void setRun(bool shall_run) {
      run = shall_run;
      if (!run) {
        digitalWrite(stepPin, LOW); //Pulse OFF.
      }
    }
    void resetSteps() {
      steps = 0;
    }
    // unsigned long getSteps() {
    // Corrected 2025/07/11
    float getSteps() {
      return steps;
    }
    void handle() {
      if (run) {
        digitalWrite(stepPin, HIGH); //Pulse ON.
        delayMicroseconds(speed); //Period halftime.
        digitalWrite(stepPin, LOW); //Pulse OFF.
        delayMicroseconds(speed); //Period halftime.
        steps += MICROSTEP_SIZE; //Add 1/8 step (motor driver step mode.)
      }
    }
};
//******************************************************************************

MotorClass motor[] = {
  {12, 11, 1, 360},
  {10,  9, 1, 360},
  { 8,  7, 1, 360},
  { 6,  5, 1, 360}
};
constexpr int nMotor = NUM_ELEMENTS(motor);

void setup() {
  Serial.begin(115200);
  for (int i = 0; i < nMotor; i++) {
    motor[i].init();
  }
}

void loop() {
  doSomethingAll(2);
  for (int i = 0; i < nMotor; i++) {
    motor[i].handle();
  }
}

void doSomethingAll(unsigned long seconds) {
  static unsigned long lastChange = 0;
  static int activeMotor = 0;
  static boolean isFirstCall = true;
  if (millis() - lastChange > seconds * 1000UL || isFirstCall) {
    lastChange = millis();
    if (isFirstCall) {
      isFirstCall = false;
    } else {
      motor[activeMotor].setRun(false);
      Serial.print("Motor no = ");
      Serial.print(activeMotor+1);
      Serial.print("\tsteps  = ");
      Serial.println(motor[activeMotor].getSteps());      
      activeMotor += 1;
      if (activeMotor >= nMotor) {
        activeMotor = 0;
      }
    }
    motor[activeMotor].toggleDirection();
    motor[activeMotor].setRun(true);
  }
}