#define X_STEP 17  // X motor STEP pin
#define X_DIR 16   // X motor DIR pin
#define ENX 18     // X motor Enable pin

#define Y_STEP 20  // Y motor STEP pin
#define Y_DIR 19   // Y motor DIR pin
#define ENY 21     // Y motor Enable pin



void setup() {
  Serial.begin(115200);
  pinMode(0, OUTPUT);  // For demo purposes
  //Stepper Pins
  pinMode(X_STEP, OUTPUT);
  pinMode(X_DIR, OUTPUT);
  pinMode(ENX, OUTPUT);
  pinMode(Y_STEP, OUTPUT);
  pinMode(Y_DIR, OUTPUT);
  pinMode(ENY, OUTPUT);
  // Enable motors
  digitalWrite(ENX, HIGH);
  digitalWrite(ENY, HIGH);
}

void loop() {
  if (Serial.available()) {
    String command = Serial.readStringUntil('\n');
    command.trim();  // Remove whitespace/newlines

    if (command == "ON") {
      digitalWrite(0, HIGH);  // Example action
      Serial.println("ON");
    } 
    else if (command == "OFF") {
      digitalWrite(0, LOW);
      Serial.println("OFF");
    } 
    else if (command == "y-") {
      digitalWrite(ENY, LOW);
      delay(60);
      turnY(false,10);
      Serial.println("Y-10");
      delay(60);
      digitalWrite(ENY, HIGH);
    } 
    else if (command == "y+") {
      digitalWrite(ENY, LOW);
      delay(60);
      turnY(true,10);
      Serial.println("Y+10");
      delay(60);
      digitalWrite(ENY, HIGH);
    }
    else if (command == "x-") {
      digitalWrite(ENX, LOW);
      delay(60);
      turnX(false,10);
      Serial.println("X-10");
      delay(60);
      digitalWrite(ENX, HIGH);
    }
    else if (command == "x+") {
      digitalWrite(ENX, LOW);
      delay(60);
      turnX(true,10);
      Serial.println("X+10");
      delay(60);
      digitalWrite(ENX, HIGH);
    }
  }
}

// Turn Y-Axis
void turnY(bool inward, int steps) {
  digitalWrite(Y_DIR, inward ? HIGH : LOW);
  for (int i = 0; i < steps; i++) {
    step(Y_STEP);
    delayMicroseconds(200);
  }
}

// Turn X‑axis
void turnX(bool inward, int steps) {
  digitalWrite(X_DIR, inward ? HIGH : LOW);
  for (int i = 0; i < steps; i++) {
    step(X_STEP);
    delayMicroseconds(200);
  }
}

// Generic step pulse generator
void step(int pin) {
  digitalWrite(pin, HIGH);
  delayMicroseconds(60);
  digitalWrite(pin, LOW);
  delayMicroseconds(600);
}