#include <Stepper.h>
// define stepper motor control pins
#define step_pin_X     7  // Atmega pin PD7(11) connected to Step pin TMC2209
#define dir_pin_X      6  // Atmega pin PD6(10) connected to Dir pin TMC2209
#define joystick_X     18 // Atmega pin PC4(27) connected to joystick Rx

#define step_pin_Y     8  // Atmega pin PB0(12) connected to Step pin TMC2209
#define dir_pin_Y      9  // Atmega pin PB1(13) connected to Dir pin TMC2209
#define joystick_Y     19 // Atmega pin PC5(28) connected to joystick Ry

#define LED            5  // Status LED

#define stepsPerRevolution 25600 //400 steps*64 =25600 stepsPerRevolution

int direction;     // Variable to set Rotation (CW-CCW) of the motor
int steps = 25600; // ZERO position, should be in the middle

Stepper stepperX(stepsPerRevolution, step_pin_X, dir_pin_X);
Stepper stepperY(stepsPerRevolution, step_pin_Y, dir_pin_Y);

void setup() {
  pinMode(step_pin_X, OUTPUT);
  pinMode(dir_pin_X, OUTPUT);
  pinMode(LED, OUTPUT);
  pinMode(step_pin_Y, OUTPUT);
  pinMode(dir_pin_Y, OUTPUT);
}

void loop()
{
    int val = analogRead(joystick_X);// read analog value from the potentiometer Rx
    int val1 = analogRead(joystick_Y);// read analog value from the potentiometer Ry
    digitalWrite(LED, HIGH);   // turn the LED on
    if ( (val > 500) && (val < 300) ) //stop the motor if the joystick is in the middle
    {
      digitalWrite(step_pin_X, LOW);
      digitalWrite(dir_pin_X, LOW);
    }

    else
    {
      while (val >= 550) // move motor X in the first direction
      {
        digitalWrite(LED, LOW);   // turn the LED on (HIGH is the voltage level)
        int speed_ = map(val, 523, 1023, 1, 10); // map the speed between 1 and 10 rpm
        stepperX.setSpeed(speed_); // set motor speed
        stepperX.step(100); // direction 1
        val = analogRead(joystick_X);
      }
      while (val <= 350) // move motor X in the other direction
      {
        digitalWrite(LED, LOW); // LED status
        // map the speed between 1 and 10 rpm
        int speed_ = map(val, 500, 0, 1, 10);
        // set motor speed
        stepperX.setSpeed(speed_);
        stepperX.step(-100); // direction 2
        val = analogRead(joystick_X);
      }
    }

    if (  (val1 > 500) && (val1 < 300) ) //stop the motor if the joystick is in the middle
    {
      digitalWrite(step_pin_Y, LOW);
      digitalWrite(dir_pin_Y, LOW);
    }

    else
    {
      while (val1 >= 550) // move motor Y in the first direction
      {
        digitalWrite(LED, LOW); // LED status
        // map the speed between 1 and 10 rpm
        int speed_ = map(val1, 523, 1023, 1, 10);
        // set motor speed
        stepperY.setSpeed(speed_);
        stepperY.step(100);
        val1 = analogRead(joystick_Y);
      }
      while (val1 <= 350) // move motor Y in the other direction
      {
        digitalWrite(LED, LOW); // LED status
        // map the speed between 1 and 10 rpm
        int speed_ = map(val1, 500, 0, 1, 10);
        // set motor speed
        stepperY.setSpeed(speed_);

        // move the motor (1 step)
        stepperY.step(-100);

        val1 = analogRead(joystick_Y);
      }
    }
}