#define DIR_PIN 3
#define STEP_PIN 2
#define EN_PIN 4

#define RIGHT_PIN 8
#define LEFT_PIN 7

const int stepsPerRevolution = 32260 ; // = 4033*8 - how much microrotations it does
const int length = 805;  // mm

int microrotatePermm = stepsPerRevolution / length;    // microrotatePermm - one microrotation for 1mm
int microstep = 1600;                                 // number of microsteps per full revolution
int microrotatePer1mms = 1000000 / microrotatePermm ; // in 1mm/sec microrotations number
int microrotatePerPartmms = microrotatePer1mms / 2 ; // second/2 / microstep

int speed = 120;     // 50 mm/sec speed start

int botton_Left = digitalRead(LEFT_PIN);
int botton_Right = digitalRead(RIGHT_PIN);

String data;   

char d1;


void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  pinMode(EN_PIN, OUTPUT);
  digitalWrite(EN_PIN, HIGH); // Deactivate driver (LOW active)
  pinMode(DIR_PIN, OUTPUT); 
  digitalWrite(DIR_PIN, LOW); // LOW or HIGH
  pinMode(STEP_PIN, OUTPUT);
  digitalWrite(STEP_PIN, LOW);
  digitalWrite(EN_PIN, LOW); // Activate driver
  // Inch ka chka Maria
  pinMode(RIGHT_PIN, INPUT_PULLUP);
  pinMode(LEFT_PIN, INPUT_PULLUP);

}

void play () {
  botton_Left = digitalRead(LEFT_PIN);
  botton_Right = digitalRead(RIGHT_PIN);
  digitalWrite(DIR_PIN, HIGH);
  for (int i =1; i <= 1000000; i++) {
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(microrotatePerPartmms / speed);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(microrotatePerPartmms / speed);
    botton_Left = digitalRead(LEFT_PIN);
    botton_Right = digitalRead(RIGHT_PIN);
    if (botton_Left == 0){
      digitalWrite(DIR_PIN,LOW);
      // break;
    } if (botton_Right == 0) {
      digitalWrite(DIR_PIN, HIGH);
      // break;
    }
    if (Serial.available()){
      data = Serial.readString();
      d1 = data.charAt(0);
      if(d1 == 's'){
      break; 
      }
    }
  }
}

void autoHome() {
  digitalWrite(DIR_PIN, HIGH);
  for (int i =1; i <= 1000000; i++) {
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(microrotatePerPartmms / speed);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(microrotatePerPartmms / speed);
    botton_Left = digitalRead(LEFT_PIN);
    // int botton_Right = digitalRead(RIGHT_PIN);
    if (botton_Left == 0){
      break;
    }
    if (Serial.available()){
      data = Serial.readString();
      d1 = data.charAt(0);
      if(d1 == 's'){
        break; 
      }
    } 
  } 
}

void position(int pos) {
  autoHome();
  digitalWrite(DIR_PIN,LOW);
  int stepForPos = stepsPerRevolution * pos / 4;
  for (int i = 1; i <= stepForPos; i++) {
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(microrotatePerPartmms / speed);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(microrotatePerPartmms / speed);
    if (Serial.available()){
      data = Serial.readString();
      d1 = data.charAt(0);
      if(d1 == 's'){
      break;
      }
    }
  }
}

// int p = 0;

void loop() {
//  if (p == 0) { // checking if the position is working without C#
 // position(3);
 // p = p + 1;
 //}

  // put your main code here, to run repeatedly:
  if (Serial.available()) {
    data = Serial.readString();
    d1 = data.charAt(0);
    if(d1 == 'p'){
      play();
    }
    else if (d1 == 'a') {
      autoHome();
    } else if (d1 == 't') { // speed
      String posStr = data.substring(1);      // taken value of the string starting from the 2nd element
      int recievedSpeed = posStr.toInt();     // recieved speed from C#, converting to an integer
      if (recievedSpeed == 0) {
        speed = 10;
      } else if (recievedSpeed == 1) {
        speed = 50;
      } else if (recievedSpeed == 2) {
        speed = 120;
      } 
      // speed = recievedSpeed;                  // speed changing
    } else if (d1 == 'b') { // position
      String posStr = data.substring(1);
      int pos = posStr.toInt();
      position(pos);
    }
  }
}