// defines pins numbers
const int stepPin1 = 4; //PD4
const int dirPin1 = 3; //PD3
const int stepPin2 = 6; //PD6
const int dirPin2 = 5; //PD5
//const int stepPin3 = 8; //PB1
//const int dirPin3 = 7; //PB0
//const int stepPin4 = 10; //PB3
//const int dirPin4 = 9; //PB2
const int enablePin1 = 17; //PC3
const int enablePin2 = 15; //PC1
// const int enablePin3 = 14; //PC0
//const int enablePin4 = 16; //PC2

String val;
int motor = 0;
int steps = 0;
char instring[20]; // Room for 19 characters plus terminating null
int spos = 0; // Location in the array
int val1 = 0;
int val2 = 0;
int val3 = 0;

int id = 9;

void setup() {
  // Sets the two pins as Outputs
  Serial.begin(4800);
//  pinMode(1, INPUT);
//  pinMode(0, INPUT);

  pinMode(stepPin1, OUTPUT);
  pinMode(dirPin1, OUTPUT);
  pinMode(stepPin2,OUTPUT);
  pinMode(dirPin2,OUTPUT);
   /*  pinMode(stepPin3,OUTPUT);
    pinMode(dirPin3,OUTPUT);
  pinMode(stepPin4, OUTPUT);
  pinMode(dirPin4, OUTPUT);*/
  digitalWrite(enablePin1, HIGH);
  digitalWrite(enablePin2, HIGH);
  //  digitalWrite(enablePin3, HIGH);
  //digitalWrite(enablePin4, HIGH);

}
void loop() {

if (Serial.available()) {
        char *bita, *bitb, *bitc;
        int c = Serial.read();
        switch (c) {
            case '\r': break; // ignore
            case '\n': 
                 spos = 0;
                 bita = strtok(instring, ",");
                 bitb = strtok(NULL, ",");
                 bitc = strtok(NULL, ",");
                 if (bita && bitb && bitc) {
                     val1 = atoi(bita);
                     val2 = atoi(bitb);
                     val3 = atoi(bitc);
                 }
                 // Three values collected in val1, val2 and val3
                 break;
            default:
                if (spos < 18) {
                    instring[spos++] = c;
                    instring[spos] = 0;
                }
        }
    



    id = val1;
    motor = val2;
    steps = val3;
    val1 = 0;
    val2 = 0;
    val3 = 0;

    if (id == 9 && motor == 1) {
      digitalWrite(enablePin1, LOW);
      digitalWrite(dirPin1, LOW);
      for (int x = 0; x < steps; x++) {
        digitalWrite(stepPin1, HIGH);
        delayMicroseconds(2500);
        digitalWrite(stepPin1, LOW);
        delayMicroseconds(2500);
      }

      id = 0;
      motor = 0;
      steps = 0;
      digitalWrite(enablePin1, HIGH);

      digitalWrite(dirPin1, LOW);
    }
    else if (id == 9 && motor == 2){
      digitalWrite(enablePin2, LOW);
      digitalWrite(dirPin2,LOW);
      for(int x = 0; x < steps; x++) {
        digitalWrite(stepPin2,HIGH);
        delayMicroseconds(2500);
        digitalWrite(stepPin2,LOW);
        delayMicroseconds(2500);
      }
      id = 0;
      motor = 0;
      steps = 0;
        digitalWrite(enablePin2, HIGH);

        //digitalWrite(dirPin2,HIGH);
      }
     /* else if (id == 9 && motor == 3){
      digitalWrite(enablePin3, LOW);
      digitalWrite(dirPin3,HIGH);
      for(int x = 0; x < steps; x++) {
        digitalWrite(stepPin3,HIGH);
        delayMicroseconds(2500);
        digitalWrite(stepPin3,LOW);
        delayMicroseconds(2500);
      }
      digitalWrite(enablePin3, HIGH);
      digitalWrite(dirPin3,LOW);
      } 
    else if (id == 9 && motor == 4) {
      digitalWrite(enablePin4, LOW);
      digitalWrite(dirPin4, HIGH);
      for (int x = 0; x < steps; x++) {
        digitalWrite(stepPin4, HIGH);
        delayMicroseconds(2500);
        digitalWrite(stepPin4, LOW);
        delayMicroseconds(2500);
      }

      digitalWrite(enablePin4, HIGH);
      digitalWrite(dirPin4, LOW);*/


    }
  }