/*
   Microstepping demo

   This requires that microstep control pins be connected in addition to STEP,DIR

   Copyright (C)2015 Laurentiu Badea
   Modified By: Yasir Shafiullah

   This file may be redistributed under the terms of the MIT license.
   A copy of this license has been included with this distribution in the file LICENSE.
*/
#include <Arduino.h>

// MOTOR 1 (X Axis)
// Motor steps per revolution. Most steppers are 200 steps or 1.8 degrees/step
#define MOTOR_STEPS 200
#define MOTOR_STEPS_MOVE 20
#define MOTOR_STEPS_MOVE_STOP 8

#define RPM 30

#define DIR 3
#define STEP 4
#define SLEEP 2 // optional (just delete SLEEP from everywhere if not used)

#include <SoftwareSerial.h>

#define txPin 12     // PA0(MISO) transmit signal to the bridge
#define rxPin 13    // PA1(SCK) recieves signal from bridge 

SoftwareSerial mySerial(rxPin, txPin);

/*
   Choose one of the sections below that match your board
*/

#include "DRV8834.h"
#define M0 7
#define M1 8
DRV8834 stepper(MOTOR_STEPS, DIR, STEP, SLEEP, M0, M1);
DRV8834 steppermove(MOTOR_STEPS_MOVE, DIR, STEP, SLEEP, M0, M1);



char Incoming_value = 0;                //Variable for storing Incoming_value

char Incoming_storage_move = 0;          //Variable for storing Incoming_value

const int buttonPinx = 15;
int buttonStatex;

// #include "A4988.h"
// #define MS1 10
// #define MS2 11
// #define MS3 12
// A4988 stepper(MOTOR_STEPS, DIR, STEP, SLEEP, MS1, MS2, MS3);

// #include "DRV8825.h"
// #define MODE0 10
// #define MODE1 11
// #define MODE2 12
// DRV8825 stepper(MOTOR_STEPS, DIR, STEP, SLEEP, MODE0, MODE1, MODE2);

// #include "DRV8880.h"
// #define M0 10
// #define M1 11
// #define TRQ0 6
// #define TRQ1 7
// DRV8880 stepper(MOTOR_STEPS, DIR, STEP, SLEEP, M0, M1, TRQ0, TRQ1);

// #include "BasicStepperDriver.h" // generic
// BasicStepperDriver stepper(DIR, STEP);

// MOTOR 2 (Y Axis)
#include <Stepper.h>


const int dirPin = 16;
const int stePin = 17;
const int sleePin = 18;
const int buttonPiny = 14;
int buttonStatey;




void setup() {

  mySerial.begin(9600);         //Sets the data rate in bits per second (baud) for serial data transmission
  pinMode(txPin, INPUT);   //default tx as input

  pinMode(5, OUTPUT);        //Sets digital pin 8 as output pin

  /*
     Set target motor RPM.
  */

  // if using enable/disable on ENABLE pin (active LOW) instead of SLEEP uncomment next line
  // stepper.setEnableActiveState(LOW);



  // set current level (for DRV8880 only).
  // Valid percent values are 25, 50, 75 or 100.
  // stepper.setCurrent(100);

//Motor 1 (X Axis)
  // initialize the pushbutton pin as an input:
  pinMode(buttonPinx, INPUT);

//Motor 2 (Y Axis)
 pinMode(stePin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(sleePin, OUTPUT);
  // initialize the pushbutton pin as an input:
  pinMode(buttonPiny, INPUT);

}

void loop()

{
  if (mySerial.available() > 0)
  {
    Incoming_value = mySerial.read();      //Read the incoming data and store it into variable Incoming_value
    mySerial.print(Incoming_value);        //Print Value of Incoming_value in Serial monitor
    mySerial.print("\n");        //New line

    if (Incoming_value == 'A')           //Checks whether value of Incoming_value is equal to A
    {
      stepper.begin(RPM);
      stepper.enable();
      motor4();
    }


    else if (Incoming_value == 'B')           //Checks whether value of Incoming_value is equal to B
    {
      stepper.begin(RPM);
      stepper.enable();
      motor8();
    }

    else if (Incoming_value == 'C')           //Checks whether value of Incoming_value is equal to C
    {
      stepper.begin(RPM);
      stepper.enable();
      motor12();
    }

    else if (Incoming_value == 'D')           //Checks whether value of Incoming_value is equal to D
    {
      stepper.begin(RPM);
      stepper.enable();
      motor16();
    }

    else if (Incoming_value == 'E')           //Checks whether value of Incoming_value is equal to E
    {
      stepper.begin(RPM);
      stepper.enable();
      motor20();
    }

    else if (Incoming_value == 'F')           //Checks whether value of Incoming_value is equal to F
    {
      stepper.begin(RPM);
      stepper.enable();
      motor24();
    }

    else if (Incoming_value == 'G')           //Checks whether value of Incoming_value is equal to G
    {
      stepper.begin(RPM);
      stepper.enable();
      motor28();
    }

    else if (Incoming_value == 'H')           //Checks whether value of Incoming_value is equal to H
    {
      stepper.begin(RPM);
      stepper.enable();
      motor32();
    }

    else if (Incoming_value == 'I')           //Checks whether value of Incoming_value is equal to I
    {
      stepper.begin(RPM);
      stepper.enable();
      motor36();
    }

    else if (Incoming_value == 'J')           //Checks whether value of Incoming_value is equal to J
    {
      stepper.begin(RPM);
      stepper.enable();
      motor40();
    }

    else if (Incoming_value == 'K')           //Checks whether value of Incoming_value is equal to K
    {
      stepper.begin(RPM);
      stepper.enable();
      motor44();
    }

    else if (Incoming_value == 'L')           //Checks whether value of Incoming_value is equal to L
    {
      stepper.begin(RPM);
      stepper.enable();
      motor48();
    }

    else if (Incoming_value == 'M')           //Checks whether value of Incoming_value is equal to M
    {
      stepper.begin(RPM);
      stepper.enable();
      motor52();
    }

    else if (Incoming_value == 'N')           //Checks whether value of Incoming_value is equal to N
    {
      stepper.begin(RPM);
      stepper.enable();
      motor56();
    }


    else if (Incoming_value == 'O')           //Checks whether value of Incoming_value is equal to O
    {
      stepper.begin(RPM);
      stepper.enable();
      motor60();
    }

    else if (Incoming_value == 'P')           //Checks whether value of Incoming_value is equal to P
    {
      stepper.begin(RPM);
      stepper.enable();
      motor64();
    }

    else if (Incoming_value == 'Q')           //Checks whether value of Incoming_value is equal to Q
    {
      stepper.begin(RPM);
      stepper.enable();
      motor68();
    }

    else if (Incoming_value == 'R')           //Checks whether value of Incoming_value is equal to R
    {
      stepper.begin(RPM);
      stepper.enable();
      motor72();
    }

    else if (Incoming_value == 'S')           //Checks whether value of Incoming_value is equal to S
    {
      stepper.begin(RPM);
      stepper.enable();
      motor76();
    }

    else if (Incoming_value == 'T')           //Checks whether value of Incoming_value is equal to T
    {
      stepper.begin(RPM);
      stepper.enable();
      motor80();
    }

    else if (Incoming_value == 'U')           //Checks whether value of Incoming_value is equal to U
    {
      stepper.begin(RPM);
      stepper.enable();
      motor84();
    }

    else if (Incoming_value == 'V')           //Checks whether value of Incoming_value is equal to V
    {
      stepper.begin(RPM);
      stepper.enable();
      motor88();
    }

       else if (Incoming_value == 'W')           //Checks whether value of Incoming_value is equal to W
    {
      steppermove.begin(170);
      steppermove.enable();
      Incoming_storage_move=Incoming_value;
      motorforward();
    }

      else if (Incoming_value == 'X')           //Checks whether value of Incoming_value is equal to X
    {
      steppermove.begin(170);
      steppermove.enable();
      Incoming_storage_move=Incoming_value;
      motorbackward();
    }

        else if (Incoming_value == 'Y')           //Checks whether value of Incoming_value is equal to Y
    {
      Incoming_storage_move=Incoming_value;
      digitalWrite(sleePin, HIGH);
      digitalWrite(dirPin, LOW);
      motorleft();
    }

       else if (Incoming_value == 'Z')           //Checks whether value of Incoming_value is equal to Z
    {
      Incoming_storage_move=Incoming_value;
      digitalWrite(sleePin, HIGH);
      digitalWrite(dirPin, HIGH);
      motorright();
    }


        else if (Incoming_value == '1')           //Checks whether value of Incoming_value is equal to 1
    {
      Incoming_storage_move=Incoming_value;
      digitalWrite(sleePin, HIGH);
      digitalWrite(dirPin, HIGH);
      motor_b3cm();
    }

         else if (Incoming_value == '2')           //Checks whether value of Incoming_value is equal to 2
    {
      Incoming_storage_move=Incoming_value;
      digitalWrite(sleePin, HIGH);
      digitalWrite(dirPin, HIGH);
      motor_b6cm();
    }

         else if (Incoming_value == '3')           //Checks whether value of Incoming_value is equal to 3
    {
      Incoming_storage_move=Incoming_value;
      digitalWrite(sleePin, HIGH);
      digitalWrite(dirPin, HIGH);
      motor_b9cm();
    }

         else if (Incoming_value == '4')           //Checks whether value of Incoming_value is equal to 4
    {
      Incoming_storage_move=Incoming_value;
      digitalWrite(sleePin, HIGH);
      digitalWrite(dirPin, HIGH);
      motor_b12cm();
    }

         else if (Incoming_value == '5')           //Checks whether value of Incoming_value is equal to 5
    {
      Incoming_storage_move=Incoming_value;
      digitalWrite(sleePin, HIGH);
      digitalWrite(dirPin, HIGH);
      motor_b15cm();
    }


             else if (Incoming_value == '6')           //Checks whether value of Incoming_value is equal to 6
    {
      Incoming_storage_move=Incoming_value;
      digitalWrite(sleePin, HIGH);
      digitalWrite(dirPin, LOW);
      motorleft();

      steppermove.begin(170);
      steppermove.enable();
      motororigin();
      
    }



  }
}



void motor4() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(190.98);     // forward revolution
}

void motor8() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(381.96);     // forward revolution
}

void motor12() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(572.94);     // forward revolution
}

void motor16() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(763.92);     // forward revolution
}


void motor20() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(954.9);     // forward revolution
}

void motor24() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(1145.88);     // forward revolution
}

void motor28() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(1336.86);     // forward revolution
}

void motor32() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(1527.84);     // forward revolution
}

void motor36() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(1718.82);     // forward revolution
}

void motor40() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(1909.8);     // forward revolution
}

void motor44() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(2100.78);     // forward revolution
}

void motor48() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(2291.76);     // forward revolution
}

void motor52() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(2482.74);     // forward revolution
}

void motor56() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(2673.72);     // forward revolution
}
void motor60() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(2864.7);     // forward revolution
}

void motor64() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(3055.68);     // forward revolution
}

void motor68() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(3246.66);     // forward revolution
}

void motor72() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(3437.64);     // forward revolution
}

void motor76() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(3628.62);     // forward revolution
}


void motor80() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(3819.6);     // forward revolution
}

void motor84() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(4010.58);     // forward revolution
}

void motor88() {
  digitalWrite(5, LOW);
  stepper.setMicrostep(1);  // Set microstep mode to 1:1
  stepper.rotate(4201.56);     // forward revolution
}


void motorforward() {

  steppermove.setMicrostep(8);  

 while (Incoming_storage_move == 'W')  {
      steppermove.move(8*MOTOR_STEPS_MOVE);
     Incoming_value = mySerial.read(); 
              if (Incoming_value == '0')
                  {
                    break;
                  }
              else
              {
                steppermove.move(8*MOTOR_STEPS_MOVE);
              }
 }
      digitalWrite(5, HIGH);
     steppermove.disable(); 

}



void motorbackward() {

  steppermove.setMicrostep(8);  

 while (Incoming_storage_move == 'X')  {
      steppermove.move(-8*MOTOR_STEPS_MOVE);
     Incoming_value = mySerial.read();

       // read the state of the pushbutton value:
  buttonStatex = digitalRead(buttonPinx);
  
              if (Incoming_value == '0')
                  {
                    break;
                  }


                 else if (buttonStatex == HIGH)
                    {
                      break;
                    }

              else
              {
                steppermove.move(-8*MOTOR_STEPS_MOVE);
              }
 }
      
      
     steppermove.disable(); 
     steppermove.begin(170);
      steppermove.enable();
      steppermove.setMicrostep(1); 
      steppermove.move(MOTOR_STEPS_MOVE/3);
      digitalWrite(5, HIGH);

}

void motorleft() {
  

    
  // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);

  while (buttonStatey == LOW) {

    // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);

     digitalWrite(stePin, HIGH);
    delayMicroseconds(200);
    digitalWrite(stePin, LOW);
    delayMicroseconds(150);

  // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);
  Incoming_value = mySerial.read(); 
    
    if (buttonStatey == HIGH)
    {
      break;
    }
  
    else if (Incoming_value == '0')
                  {
                    break;
                  }
    
  }
digitalWrite(sleePin, HIGH);
    digitalWrite(dirPin, HIGH);
    
  for (int x = 0; x <200; x++) {

    digitalWrite(stePin, HIGH);
    delayMicroseconds(200);
    digitalWrite(stePin, LOW);
    delayMicroseconds(150);

  }
  
digitalWrite(sleePin, LOW);
digitalWrite(5, HIGH);

}


void motorright() {
    
  // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);

  while (buttonStatey == LOW) {

    // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);

     digitalWrite(stePin, HIGH);
    delayMicroseconds(200);
    digitalWrite(stePin, LOW);
    delayMicroseconds(150);

  // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);
  Incoming_value = mySerial.read(); 
    
    if (buttonStatey == HIGH)
    {
      break;
    }
  
    else if (Incoming_value == '0')
                  {
                    break;
                  }
    
  }
digitalWrite(sleePin, HIGH);
    digitalWrite(dirPin, LOW);
    
  for (int x = 0; x <200; x++) {

    digitalWrite(stePin, HIGH);
    delayMicroseconds(200);
    digitalWrite(stePin, LOW);
    delayMicroseconds(150);

  }
  
digitalWrite(sleePin, LOW);
digitalWrite(5, HIGH);

}


void motor_b3cm()   

{
  for (int x = 0; x <3000; x++) {

    digitalWrite(stePin, HIGH);

    delayMicroseconds(200);

    digitalWrite(stePin, LOW);

    delayMicroseconds(150);
    
  // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);
    
    if (buttonStatey == HIGH)
    {
      break;
    }
    
  }

  
digitalWrite(sleePin, LOW);
digitalWrite(5, HIGH);

}


void motor_b6cm()   

{
  for (int x = 0; x <6000; x++) {

    digitalWrite(stePin, HIGH);

    delayMicroseconds(200);

    digitalWrite(stePin, LOW);

    delayMicroseconds(150);

  // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);
    
    if (buttonStatey == HIGH)
    {
      break;
    }
    
  }

  
digitalWrite(sleePin, LOW);
digitalWrite(5, HIGH);

}

void motor_b9cm()   

{
  for (int x = 0; x <9000; x++) {

    digitalWrite(stePin, HIGH);

    delayMicroseconds(200);

    digitalWrite(stePin, LOW);

    delayMicroseconds(150);

   // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);
    
    if (buttonStatey == HIGH)
    {
      break;
    }
    
  }

  
digitalWrite(sleePin, LOW);
digitalWrite(5, HIGH);

}

void motor_b12cm()   

{
  for (int x = 0; x <12000; x++) {

    digitalWrite(stePin, HIGH);

    delayMicroseconds(200);

    digitalWrite(stePin, LOW);

    delayMicroseconds(150);

  // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);
    
    if (buttonStatey == HIGH)
    {
      break;
    }
    
  }

  
digitalWrite(sleePin, LOW);
digitalWrite(5, HIGH);

}

void motor_b15cm()   

{
  for (int x = 0; x <15000; x++) {

    digitalWrite(stePin, HIGH);

    delayMicroseconds(200);

    digitalWrite(stePin, LOW);

    delayMicroseconds(150);
    
 // read the state of the pushbutton value:
  buttonStatey = digitalRead(buttonPiny);
    
    if (buttonStatey == HIGH)
    {
      break;
    }
    
  }

  
digitalWrite(sleePin, LOW);
digitalWrite(5, HIGH);

}

void motororigin() {

  steppermove.setMicrostep(8);  

 while (Incoming_storage_move == '6')  {
      steppermove.move(-8*MOTOR_STEPS_MOVE);
     Incoming_value = mySerial.read();

       // read the state of the pushbutton value:
  buttonStatex = digitalRead(buttonPinx);
  
              if (Incoming_value == '0')
                  {
                    break;
                  }


                 else if (buttonStatex == HIGH)
                    {
                      break;
                    }

              else
              {
                steppermove.move(-8*MOTOR_STEPS_MOVE);
              }
 }
      
      
     steppermove.disable(); 
     steppermove.begin(170);
      steppermove.enable();
      steppermove.setMicrostep(1); 
      steppermove.move(MOTOR_STEPS_MOVE/3);
      digitalWrite(5, HIGH);

}