#include <Servo.h>

Servo myServo;      // Create a servo object

// Define stepper motor pins
const int stepPin = 5;
const int dirPin = 6;
const int buttonPin1 = 2; // Button pin for controlling the stepper motor

// Define servo motor pin
const int servoPin = 13;   // Define servo control pin
const int buttonPin2 = 3; // Button pin for controlling the servo

volatile bool motorRunning = false; // Flag variable to record the working status of the stepper motor
volatile bool servoRunning = false; // Flag variable to record the working status of the servo
unsigned long lastInterruptTime1 = 0; // Last interrupt time for the stepper motor
unsigned long lastInterruptTime2 = 0; // Last interrupt time for the servo

unsigned long lastMotorStepTime = 0; // Last stepping time of the stepper motor
unsigned long lastServoMoveTime = 0; // Last movement time of the servo
int motorStepCount = 0; // Step counter for the stepper motor
int servoAngle = 0; // Servo angle
bool motorDirection = true; // Flag variable to record the direction of the stepper motor

const int motorStepInterval = 200; // Step interval of the stepper motor (microseconds)
const int servoMoveInterval = 20; // Movement interval of the servo (milliseconds)
const int motorSteps = 20000; // Number of steps per run
const int maxServoAngle = 60; // Maximum angle of the servo
const int servoSpeedFactor = 1; // Factor to adjust the speed of the servo movement, the larger the value, the slower the speed

void setup() {
  // Initialize the serial port for debugging
  Serial.begin(9600);

  // Initialize stepper motor pins
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(buttonPin1, INPUT_PULLUP); // Use internal pull-up resistor

  // Initialize servo
  myServo.attach(servoPin);
  pinMode(buttonPin2, INPUT_PULLUP); // Use internal pull-up resistor

  // Attach interrupts to buttonPin1 and buttonPin2
  attachInterrupt(digitalPinToInterrupt(buttonPin1), toggleMotor, FALLING);
  attachInterrupt(digitalPinToInterrupt(buttonPin2), toggleServo, FALLING);

  Serial.println("Setup complete");
}

void loop() {
  unsigned long currentTime = millis();
  if (motorRunning && (currentTime - lastMotorStepTime >= motorStepInterval / 1000)) {
    runMotor(currentTime);
  }
  if (servoRunning && (currentTime - lastServoMoveTime >= servoMoveInterval * servoSpeedFactor)) {
    runServo(currentTime);
  }
}

// Stepper motor control function
void runMotor(unsigned long currentTime) {
  if (motorStepCount < motorSteps) {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(100);
    digitalWrite(stepPin, LOW);
    lastMotorStepTime = currentTime;
    motorStepCount++;
  } else {
    motorStepCount = 0;
    motorDirection = !motorDirection; // Toggle direction
    digitalWrite(dirPin, motorDirection ? HIGH : LOW);
    Serial.print("Motor direction: ");
    Serial.println(motorDirection ? "Forward" : "Backward");
  }
}

// Servo control function
void runServo(unsigned long currentTime) {
  static bool increasing = true; // Record the movement direction of the servo

  if (increasing) {
    servoAngle++;
    if (servoAngle >= maxServoAngle) {
      increasing = false;
    }
  } else {
    servoAngle--;
    if (servoAngle <= 0) {
      increasing = true;
    }
  }

  myServo.write(servoAngle);
  Serial.println(servoAngle);
  lastServoMoveTime = currentTime;
}

// Stepper motor interrupt service routine
void toggleMotor() {
  unsigned long interruptTime = millis();
  if (interruptTime - lastInterruptTime1 > 200) { // Simple debounce processing
    motorRunning = !motorRunning;
    motorStepCount = 0;
    Serial.print("Motor running: ");
    Serial.println(motorRunning);
    lastInterruptTime1 = interruptTime;
  }
}

// Servo interrupt service routine
void toggleServo() {
  unsigned long interruptTime = millis();
  if (interruptTime - lastInterruptTime2 > 200) { // Simple debounce processing
    servoRunning = !servoRunning;
    Serial.print("Servo running: ");
    Serial.println(servoRunning);
    lastInterruptTime2 = interruptTime;
  }
}