#include <Servo.h>

const int servoPin = A5;
Servo myservo;

#define enPin 8

// stepper motor X
#define stepXPin 2
#define dirXPin 5

// stepper motor Y
#define stepYPin 3
#define dirYPin 6

#define stepsPerRevolution 200
#define delayms 1000

void setup() {
  Serial.begin(115200);
  pinMode(servoPin, OUTPUT);
  pinMode(stepXPin, OUTPUT);
  pinMode(dirXPin, OUTPUT);
  pinMode(stepYPin, OUTPUT);
  pinMode(dirYPin, OUTPUT);
  pinMode(enPin , OUTPUT);

  digitalWrite(enPin, HIGH); // disable Stepper

  action001(); // make a star shape

  delay(3000);
}

void loop() {
}

void feed(int distance) {
  digitalWrite(enPin, LOW); // enable Stepper
  digitalWrite(dirYPin, HIGH);

  for (int i = 0; i < stepsPerRevolution * (distance / 2); i++) {
    digitalWrite(stepYPin, HIGH);
    delayMicroseconds(delayms);
    digitalWrite(stepYPin, LOW);
    delayMicroseconds(delayms);
  }

  delay(500);

  digitalWrite(enPin, HIGH); // disable Stepper
}

void turn(boolean direction, int angle) {
  digitalWrite(enPin, LOW); // enable Stepper
  digitalWrite(dirXPin, direction);

  for (int i = 0; i < stepsPerRevolution * angle; i++) {
    digitalWrite(stepXPin, HIGH);
    delayMicroseconds(delayms);
    digitalWrite(stepXPin, LOW);
    delayMicroseconds(delayms);
  }

  delay(500);
}

void header(boolean position) {
  myservo.attach(servoPin);
  if (position) {
    myservo.write(20);
  } else {
    myservo.write(110);
  }
  delay(1500); // delay for 1.5 second
  myservo.detach();
}

void action001() {

  header(false); // ⬇ true = high position, false = position
  feed(30); // feed 25mm

  for (int j = 0; j < 5; j++) {
    header(true); // ⬆
    turn(HIGH, 4); // ▶ to +4
    for (int i = 0; i < 4; i++) {
      feed(5); // feed 5mm
      turn(HIGH, 1); // ▶
    } // ▶ to +8 尖角轉彎
    turn(LOW, 6); // ◀  to 2
    header(false); // ⬇
    feed(25); // feed 25mm
    header(true); // ⬆
    turn(LOW, 5); // ◀  to -3
    turn(HIGH, 2); // ◀  to -1

    header(false); // ⬇
    feed(30); // feed 25mm
    turn(HIGH, 1); // ▶ to 0
  }

}