// =======================================================
// ESP32-S3 + A4988 + NEMA17
// Pot = FAST movement
// Button = SLOW full clockwise turn
// NO movement at startup (FIXED)
// =======================================================

// -------------------- PIN DEFINITIONS --------------------
#define STEP_PIN    16
#define DIR_PIN     17
#define ENABLE_PIN  15
#define POT_PIN     13
#define BUTTON_PIN  14


// -------------------- MOTOR SETTINGS --------------------
#define MICROSTEPS        16
#define MOTOR_STEPS       200
#define STEPS_PER_REV     (MOTOR_STEPS * MICROSTEPS)

// -------------------- SPEED SETTINGS --------------------
#define SLOW_STEP_DELAY   1200
#define FAST_STEP_DELAY   100

long lastPotPosition = 0;
bool buttonPressed = false;

// =======================================================
void setup() {

  // 🚫 Disable driver immediately
  pinMode(ENABLE_PIN, OUTPUT);
  digitalWrite(ENABLE_PIN, HIGH);   // DISABLE A4988

  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(BUTTON_PIN, INPUT_PULLUP);

  delay(500);   // allow ESP32 to fully boot

  // 🔑 Sync pot BEFORE enabling motor
  lastPotPosition = map(analogRead(POT_PIN), 0, 4095, 0, STEPS_PER_REV);

  // ✅ Now enable motor (safe)
  digitalWrite(ENABLE_PIN, LOW);
}

// =======================================================
void loop() {

  // ---------- BUTTON ----------
  if (digitalRead(BUTTON_PIN) == LOW && !buttonPressed) {
    buttonPressed = true;
    slowClockwiseTurn();
  }
  if (digitalRead(BUTTON_PIN) == HIGH) {
    buttonPressed = false;
  }

  // ---------- POT ----------
  int potValue = analogRead(POT_PIN);
  long targetPosition = map(potValue, 0, 4095, 0, STEPS_PER_REV);
  long stepsToMove = targetPosition - lastPotPosition;

  if (stepsToMove != 0) {
    digitalWrite(DIR_PIN, stepsToMove > 0 ? HIGH : LOW);

    for (int i = 0; i < abs(stepsToMove); i++) {
      stepMotor(FAST_STEP_DELAY);
    }
    lastPotPosition = targetPosition;
  }
}

// =======================================================
void stepMotor(int delayTime) {
  digitalWrite(STEP_PIN, HIGH);
  delayMicroseconds(delayTime);
  digitalWrite(STEP_PIN, LOW);
  delayMicroseconds(delayTime);
}

// =======================================================
void slowClockwiseTurn() {
  digitalWrite(DIR_PIN, HIGH);
  for (long i = 0; i < STEPS_PER_REV; i++) {
    stepMotor(SLOW_STEP_DELAY);
  }
}