#include <Wire.h>
#include <Stepper.h>

// STEPPER_MSG Directions Received From Wire:
// Values 1-30: Go to Position 
// Value -1: Turn Left
// Value 0: Stay Put

//Stepper Motor 1
int STEPPER_MSG;
int PREV_MSG;
int MSG;
int POSITION;
const int stepsPerRevolution = 200;
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);

void setup(){
  Wire.begin(9); // Start I2C Bus as Slave on Address 9
  Wire.onReceive(receiveEvent);
  Serial.begin(9600);

  
  myStepper.setSpeed(60);
}

void receiveEvent(int bytes) {
  STEPPER_MSG = Wire.read();    // read one character from the I2C

}

int steps = 0;

void loop(){
  Serial.println(STEPPER_MSG);

  int GEAR_RATIO = 20;
  int STEPS_TOTAL = STEPPER_MSG * GEAR_RATIO;
  Serial.println("STEPS_TOTAL: " + (String) STEPS_TOTAL);
  
  
  while (STEPPER_MSG > 0 & steps <= STEPS_TOTAL) {
    Serial.println("Steps done: " + steps);
    steps++;
    myStepper.step(1);
    delay(20);
    // Once you Get to position, stay
   } 

   //if (STEPPER_MSG  0 | steps == STEPS_TOTAL) {
   // steps = 0;
   //}

  while (STEPPER_MSG == 0 & steps >= 0) {
    myStepper.step(-1);
    steps--;
    delay(20);
  }
  

}