#include <AccelStepper.h>

// Pin definitions
const int DIR_PIN = 14;
const int STEP_PIN = 12;
const int POT_PIN = 34;

// FIXED: Exactly 360° = 1 full turn (no microstep multiplication)
const int STEPS_PER_REV = 200;        // Your stepper's steps per revolution
const long TOTAL_STEPS_360 = STEPS_PER_REV;  // EXACTLY 360° = 200 steps

// Speed control
const float MAX_SPEED = 500.0;        // Slower for precision
const float MAX_ACCEL = 800.0;

// Create stepper
AccelStepper stepper(1, STEP_PIN, DIR_PIN);

long targetPosition = 0;
int potValue = 0;
int lastPotValue = 0;

void setup() {
  Serial.begin(115200);
  pinMode(POT_PIN, INPUT);
  
  // Configure stepper
  stepper.setMaxSpeed(MAX_SPEED);
  stepper.setAcceleration(MAX_ACCEL);
  stepper.setCurrentPosition(0);
  
  Serial.println("=== 0-360° EXACT 1 TURN CONTROLLER ===");
  Serial.println("Pot 0V = 0° | Pot 3.3V = 360° (1 full turn)");
  Serial.print("Steps per 360°: "); Serial.println(TOTAL_STEPS_360);
}

void loop() {
  potValue = analogRead(POT_PIN);
  
  // Map EXACTLY 0-4095 → 0-TOTAL_STEPS_360 (1 full turn)
  targetPosition = map(potValue, 0, 4095, 0, TOTAL_STEPS_360);
  
  // Anti-jitter: only move on significant change
  if (abs(targetPosition - stepper.currentPosition()) > 2 || 
      abs(potValue - lastPotValue) > 50) {
    stepper.moveTo(targetPosition);
    lastPotValue = potValue;
  }
  
  stepper.run();
  
  // Status every 300ms
  static unsigned long lastPrint = 0;
  if (millis() - lastPrint > 300) {
    float currentDeg = (stepper.currentPosition() * 360.0) / TOTAL_STEPS_360;
    float targetDeg = (targetPosition * 360.0) / TOTAL_STEPS_360;
    
    Serial.print("Pot:");
    Serial.print(potValue);
    Serial.print(" | ");
    Serial.print(currentDeg, 0);
    Serial.print("° → ");
    Serial.print(targetDeg, 0);
    Serial.print("° (");
    Serial.print(stepper.currentPosition());
    Serial.print("/");
    Serial.print(targetPosition);
    Serial.println(" steps)");
    
    lastPrint = millis();
  }
  
  delay(5);
}