// Include the AccelStepper Library
#include <AccelStepper.h>

// Define step constant
#define MotorInterfaceType 4
int sl1 = A0;
int sl2 = A1;
int sl3 = A2;

long int time1;
long int time2;

// Creates an instance
// Pins entered in sequence IN1-IN3-IN2-IN4 for proper step sequence
AccelStepper stepper1(MotorInterfaceType, 9, 11, 10, 12);
AccelStepper stepper2(MotorInterfaceType, 5, 7, 6, 8);
AccelStepper stepper3(MotorInterfaceType, 1, 3, 2, 4);
void setup() {
  // set the maximum speed, acceleration factor,
  // initial speed and the target position
  stepper1.setMaxSpeed(1500.0);
  //  stepper1.setAcceleration(50.0);
  stepper1.setSpeed(500);
  //  stepper1.moveTo(2038 * 500);

  stepper2.setMaxSpeed(1500.0);
  //  stepper2.setAcceleration(50.0);
  stepper2.setSpeed(-600);
  //  stepper2.moveTo(2038 * 500);

  stepper3.setMaxSpeed(1500.0);
  //  stepper3.setAcceleration(50.0);
  stepper3.setSpeed(600);
  //  stepper3.moveTo(2038 * 500);

  pinMode(sl1, INPUT);
  pinMode(sl2, INPUT);
  pinMode(sl3, INPUT);
  Serial.begin(9600);

  time1 = 0;
  time2 = 0;
}

void loop() {
  // Change direction once the motor reaches target position
  //  if (stepper1.distanceToGo() == 0)
  //  { stepper1.moveTo(-stepper1.currentPosition());
  //  }
  //  // Move the motor one step
  //  stepper1.run();
  //
  //  if (stepper2.distanceToGo() == 0)
  //  { stepper2.moveTo(-stepper2.currentPosition());
  //  }
  //  // Move the motor one step
  //  stepper2.run();
  //
  //  if (stepper3.distanceToGo() == 0)
  //  { stepper3.moveTo(-stepper3.currentPosition());
  //  }
  //  // Move the motor one step
  //  stepper3.run();
  time1 = millis();

  stepper1.runSpeed();
  stepper2.runSpeed();
  stepper3.runSpeed();

  if (time1 - time2 >= 1000)
  {
    int a1 = analogRead(sl1);
    int a2 = analogRead(sl2);
    int a3 = analogRead(sl3);

    int s1 = map(a1, 0, 1024, -600, 600);
    int s2 = map(a2, 0, 1024, -600, 600);
    int s3 = map(a3, 0, 1024, -600, 600);

    Serial.print(a1);
    Serial.print(" ");
    Serial.print(a2);
    Serial.print(" ");
    Serial.println(a3);

    stepper1.setSpeed(s1);
    stepper2.setSpeed(s2);
    stepper3.setSpeed(s3);

    time2 = millis();
    Serial.println("set");
  }

}