/* Simple Stepper Motor Homing code
 
Created by Yvan / https://Brainy-Bits.com
This code is in the public domain...
You can: copy it, use it, modify it, share it or just plain ignore it!
Thx!

*/

#include <AccelStepper.h>
// Define a stepper and the pins it will use
AccelStepper stepper(AccelStepper::DRIVER, 12, 11);
int pos = 5000;


// Define the Pins used
#define step_pin 5    // Pin 5 connected to Steps pin on EasyDriver
#define dir_pin 6     // Pin 6 connected to Direction pin
#define MS1 2         // Pin 3 connected to MS1 pin
#define MS2 3         // Pin 4 connected to MS2 pin
#define sleep_pin 8   // Pin 8 connected to SLEEP pin

 

#define home_switch 9 // Pin 9 connected to Home Switch (MicroSwitch)

int direction;    // Variable to set Rotation (CW-CCW) of the motor
int steps;        // Used to set HOME position after Homing is completed

void setup() {
   stepper.setMaxSpeed(3000);
   stepper.setAcceleration(1000);

   pinMode(MS1, OUTPUT);
   pinMode(MS2, OUTPUT);
   pinMode(dir_pin, OUTPUT);
   pinMode(step_pin, OUTPUT);
   pinMode(sleep_pin, OUTPUT);

   pinMode(home_switch, INPUT_PULLUP);
   
   digitalWrite(sleep_pin, HIGH);  // Wake up EasyDriver
   delay(5);  // Wait for EasyDriver wake up
   

/* Configure type of Steps on EasyDriver:
// MS1 MS2
//
// LOW LOW = Full Step //
// HIGH LOW = Half Step //
// LOW HIGH = A quarter of Step //
// HIGH HIGH = An eighth of Step //
*/

   digitalWrite(MS1, HIGH);      // Configures to Full Steps
   digitalWrite(MS2, LOW);    // Configures to Full Steps

// Start Homing procedure of Stepper Motor at startup

  while (digitalRead(home_switch)) {  // Do this until the switch is activated   
    digitalWrite(dir_pin, HIGH);      // (HIGH = anti-clockwise / LOW = clockwise)
    digitalWrite(step_pin, HIGH);
    delay(5);                         // Delay to slow down speed of Stepper
    digitalWrite(step_pin, LOW);
    delay(5);   
}

  while (!digitalRead(home_switch)) { // Do this until the switch is not activated
    digitalWrite(dir_pin, LOW); 
    digitalWrite(step_pin, HIGH);
    delay(10);                       // More delay to slow even more while moving away from switch
    digitalWrite(step_pin, LOW);
    delay(10);
  }

  steps=1000;  // Reset position variable to zero
   
}

void loop() {
  if (stepper.distanceToGo() == 0)
  {
    delay(500);
    pos = -pos;
    stepper.moveTo(pos);\
  }
  stepper.run();

}