/*
  Blink without Delay

  Turns on and off a light emitting diode (LED) connected to a digital pin,
  without using the delay() function. This means that other code can run at the
  same time without being interrupted by the LED code.

  The circuit:
  - Use the onboard LED.
  - Note: Most Arduinos have an on-board LED you can control. On the UNO, MEGA
    and ZERO it is attached to digital pin 13, on MKR1000 on pin 6. LED_BUILTIN
    is set to the correct LED pin independent of which board is used.
    If you want to know what pin the on-board LED is connected to on your
    Arduino model, check the Technical Specs of your board at:
    https://www.arduino.cc/en/Main/Products

  created 2005
  by David A. Mellis
  modified 8 Feb 2010
  by Paul Stoffregen
  modified 11 Nov 2013
  by Scott Fitzgerald
  modified 9 Jan 2017
  by Arturo Guadalupi

  This example code is in the public domain.

  https://www.arduino.cc/en/Tutorial/BuiltInExamples/BlinkWithoutDelay
*/
int YrPin = 5;
int Yr_value = 0;
// constants won't change. Used here to set a pin number:
const int Ystep_pin = 16;
//const int ledPin = LED_BUILTIN;  // the number of the LED pin
const int Ydir_pin = 17;

// Variables will change:
int YstepState = LOW; 
//int ledState = LOW;  // ledState used to set the LED

// Generally, you should use "unsigned long" for variables that hold time
// The value will quickly become too large for an int to store
unsigned long previousMillis = 0;  // will store last time LED was updated

// constants won't change:
const long interval = 100;  // interval at which to blink (milliseconds)

void setup() {
  // set the digital pin as output:
  pinMode(Ystep_pin, OUTPUT);
  pinMode(Ydir_pin, OUTPUT);

  pinMode(YrPin, INPUT);

  Serial.begin(115200);
}

void loop() {
  // here is where you'd put code that needs to be running all the time.

  // check to see if it's time to blink the LED; that is, if the difference
  // between the current time and last time you blinked the LED is bigger than
  // the interval at which you want to blink the LED.
  unsigned long currentMillis = micros();
  
 Yr_value = analogRead(YrPin); //reading Yr potentiometer
  int Yr_mapped = map(Yr_value, 0, 1023, 5000, 100); //converting value from potentiometer to value I want 
  Serial.println(Yr_valu);//printing serial by line

  if (currentMillis - previousMillis >= Yr_mapped) {
    // save the last time you blinked the LED
    previousMillis = currentMillis;

    // if the LED is off turn it on and vice-versa:
    if (YstepState == LOW) {
      YstepState = HIGH;
    } else {
      YstepState = LOW;
    }

    // set the LED with the ledState of the variable:
    digitalWrite(Ystep_pin, YstepState);
  }
}