#define x_paso 2 // Set the STEP Pin for X Axis Motor
#define x_dire 5 // Set the DIR Pin for X Axis Motor
#define x_habi 8 // Set the ENABLE Pin for X Axis Motor
#define x_limite 9 // Set the Movement Limit Pin

int retardo = 1000; // Delay between steps in microseconds
int pasos_por_segundo = 500; // Number of steps per second (motor speed)
unsigned long tiempo_avance_1 = 6000; // Initial advance time in milliseconds
unsigned long tiempo_parada_1 = 5000; // Initial wait time in milliseconds
unsigned long tiempo_avance_2 = 12000; // Second advance time in milliseconds
unsigned long tiempo_parada_2 = 5000; // Second wait time in milliseconds
unsigned long tiempo_avance_3 = 11000; // Third advance time in milliseconds
unsigned long tiempo_parada_3 = 5000; // Third hold time in milliseconds
unsigned long tiempo_avance_4 = 2000; // Quarter advance time in milliseconds
unsigned long tiempo_parada_4 = 10000; // Fourth wait time in milliseconds
unsigned long tiempo_retroceso = 31000; // Rollback time in milliseconds

void setup() {
  pinMode(x_paso, OUTPUT);
  pinMode(x_dire, OUTPUT);
  pinMode(x_habi, OUTPUT);
  pinMode(x_limite, INPUT_PULLUP); // Configure move limit pin as input with pull-up resistor
  Serial.begin(9600); // Initialize serial communication
  Serial.println("Use the 's' command to start the movement.");
}

void loop() {
  if (Serial.available() > 0) {
    char comando = Serial.read();
    if (comando == 's') {
      iniciarMovimiento();
    }
  }
}

void iniciarMovimiento() {
  // Advance for 6 seconds
  avanzar(tiempo_avance_1);
  
  // Wait for 5 seconds
  delay(tiempo_parada_1);
  
  // Advance for 12 seconds
  avanzar(tiempo_avance_2);
  
  // Wait for 5 seconds
  delay(tiempo_parada_2);
  
  // Advance for 11 seconds
  avanzar(tiempo_avance_3);
  
  // Wait for 5 seconds
  delay(tiempo_parada_3);
  
  // Advance for 2 seconds
  avanzar(tiempo_avance_4);
  
  // Wait for 10 seconds
  delay(tiempo_parada_4);
  
  // Rollback for 31 secondss
  retroceder(tiempo_retroceso);
}

void avanzar(unsigned long tiempo) {
  digitalWrite(x_dire, LOW); // Set forward direction
  digitalWrite(x_habi, LOW); // Enable the engine
  unsigned long tiempo_inicio = millis();
  while (millis() - tiempo_inicio < tiempo) {
    digitalWrite(x_paso, HIGH);
    delayMicroseconds(1000000 / pasos_por_segundo);
    digitalWrite(x_paso, LOW);
    delayMicroseconds(1000000 / pasos_por_segundo);
  }
  digitalWrite(x_habi, HIGH); // Disable the engine
}

void retroceder(unsigned long tiempo) {
  digitalWrite(x_dire, HIGH); // Set backward direction
  digitalWrite(x_habi, LOW); // Enable the engine
  unsigned long tiempo_inicio = millis();
  while (millis() - tiempo_inicio < tiempo) {
    digitalWrite(x_paso, HIGH);
    delayMicroseconds(1000000 / pasos_por_segundo);
    digitalWrite(x_paso, LOW);
    delayMicroseconds(1000000 / pasos_por_segundo);
  }
  digitalWrite(x_habi, HIGH); // Disable the engine