/* Stepper Motor A4988 Driver with Serial Control */
int stepPin = 4;    // STEP pin
int dirPin = 2;     // DIR pin
uint16_t pulseTime = 50;  // Default pulse time in ms
bool dirState = HIGH;     // Default direction

void pulsedemo(uint16_t time) {
  digitalWrite(stepPin, HIGH);
  delay(time);
  digitalWrite(stepPin, LOW);
  delay(time);
}

void setup() {
  pinMode(dirPin, OUTPUT);
  pinMode(stepPin, OUTPUT);
  digitalWrite(dirPin, dirState);
  
  Serial.begin(9600);
  Serial.println("Stepper Motor Controller Ready");
  Serial.println("Commands:");
  Serial.println(" 'H' - Set DIR pin HIGH");
  Serial.println(" 'L' - Set DIR pin LOW");
  Serial.println(" 'Txxx' - Set pulse time (e.g. T100 for 100ms)");
  Serial.println(" 'Rxxx' - Run xxx steps (e.g. R200 for 200 steps)");
}

void loop() {
  if (Serial.available() > 0) {
    char command = Serial.read();
    
    // Handle direction commands
    if (command == 'H' || command == 'h') {
      dirState = HIGH;
      digitalWrite(dirPin, dirState);
      Serial.println("Direction set to HIGH");
    }
    else if (command == 'L' || command == 'l') {
      dirState = LOW;
      digitalWrite(dirPin, dirState);
      Serial.println("Direction set to LOW");
    }
    
    // Handle pulse time command (format: Txxx)
    else if (command == 'T' || command == 't') {
      delay(10); // Wait for rest of command
      String timeStr = Serial.readStringUntil('\n');
      timeStr.trim();
      pulseTime = timeStr.toInt();
      Serial.print("Pulse time set to: ");
      Serial.print(pulseTime);
      Serial.println("ms");
    }
    
    // Handle run command (format: Rxxx)
    else if (command == 'R' || command == 'r') {
      delay(10); // Wait for rest of command
      String stepStr = Serial.readStringUntil('\n');
      stepStr.trim();
      int steps = stepStr.toInt();
      
      if (steps > 0) {
        Serial.print("Running ");
        Serial.print(steps);
        Serial.println(" steps...");
        
        digitalWrite(dirPin, dirState);
        for (int i = 0; i < steps; i++) {
          pulsedemo(pulseTime);
        }
        Serial.println("Done");
      }
    }
  }
}