/*
  Arduino | coding-help
  Seth
  Friday, November 7, 2025 8:55 PM

  I'm struggling to get commands in from serial monitor to move a stepper.
*/

#include <AccelStepper.h>
// AccelStepper Setup
AccelStepper theta1 = AccelStepper(AccelStepper::DRIVER, 24, 22);

// Define the Pins used
#define home_switch 10 // Pin 10 connected to Home Switch (MicroSwitch)


// Stepper Travel Variables
int TravelX;  // Used to store the X value entered in the Serial Monitor
bool move_finished = false;  // Used to check if move is completed
int initial_homing = -1;

void setup() {
  Serial.begin(115200);
  pinMode(home_switch, INPUT_PULLUP); // uses internal pullup resistor

  //  Set Max Speed and Acceleration of each Steppers at startup for homing
  theta1.setMaxSpeed(50.0);      // Set Max Speed of Stepper (Slower to get better accuracy)
  theta1.setAcceleration(50.0);  // Set Acceleration of Stepper


  // Start Homing procedure of Stepper Motor at startup

  Serial.println("Stepper is Homing");
  Serial.println(digitalRead(home_switch));

  while (digitalRead(home_switch)) {  // Make the Stepper move CCW until the switch is activated
    theta1.moveTo(initial_homing);  // Set the position to move to
    initial_homing--;  // Decrease by 1 for next move if needed
    theta1.run();  // Start moving the stepper

  }

  theta1.setCurrentPosition(0);  // Set the current position as zero for now
  theta1.setMaxSpeed(100.0);      // Set Max Speed of Stepper (Slower to get better accuracy)
  theta1.setAcceleration(100.0);  // Set Acceleration of Stepper
  initial_homing = 1;
  delay(5);

  while (!digitalRead(home_switch)) { // Make the Stepper move CW until the switch is deactivated
    theta1.moveTo(initial_homing);
    theta1.run();
    initial_homing++;
    delay(5);
  }
  move_finished = true;
  theta1.setCurrentPosition(0);
  Serial.println("Homing Completed");
  Serial.println("");
  theta1.setMaxSpeed(1000.0);      // Set Max Speed of Stepper (Faster for regular movements)
  theta1.setAcceleration(1000.0);  // Set Acceleration of Stepper

  // Print out Instructions on the Serial Monitor at Start
  Serial.println("Setup: Enter Travel distance (Positive for CW / Negative for CCW and Zero for back to Home): ");
  // delay(10000);
}

void loop() {

  while (Serial.available() > 0)  { // Check if values are available in the Serial Buffer
    TravelX = Serial.parseInt();  // Put numeric value from buffer in TravelX variable
    Serial.print("Moving stepper into position: ");
    Serial.println(TravelX);
    theta1.moveTo(TravelX);  // Set new moveto position of Stepper
    Serial.print("distance.toGo(TravelX) = ");
    Serial.println(theta1.distanceToGo());
    break;
    // delay(1000);  // Wait 1 seconds before moving the Stepper
  }

  if ((theta1.distanceToGo() != 0)) { // Check if the Stepper has reached desired position
    theta1.run();  // Move Stepper into position
    Serial.println("statement 2");
  }

  // If move is completed display message on Serial Monitor
  if (theta1.distanceToGo() == 0) {
    Serial.println("COMPLETED!");
    Serial.println("");
    Serial.println("Loop: Enter Travel distance (Positive for CW / Negative for CCW and Zero for back to Home): ");
    delay(10000);
  }
}