// XIAO ESP32C3 Pins -> ULN2003 Driver (IN1 to IN4)
const int pinMotor1 = 2;  // GPIO2 -> IN1
const int pinMotor2 = 3;  // GPIO3 -> IN2
const int pinMotor3 = 4;  // GPIO4 -> IN3
const int pinMotor4 = 5;  // GPIO5 -> IN4

// Motor configuration
int motorSpeed = 1000;  // Microseconds between steps (1000 = smooth)
int stepsPerRevolution = 4076;  // Steps for 360° (28BYJ-48 motor)

// Half-step sequence (8 steps) - More precision
const int stepTable[8] = {
  B1000, // Step 1: IN1 active
  B1100, // Step 2: IN1 + IN2
  B0100, // Step 3: IN2 active
  B0110, // Step 4: IN2 + IN3
  B0010, // Step 5: IN3 active
  B0011, // Step 6: IN3 + IN4
  B0001, // Step 7: IN4 active
  B1001  // Step 8: IN4 + IN1
};

void setup() {
  // Set pins as outputs
  pinMode(pinMotor1, OUTPUT);
  pinMode(pinMotor2, OUTPUT);
  pinMode(pinMotor3, OUTPUT);
  pinMode(pinMotor4, OUTPUT);
  
  Serial.begin(115200);
  Serial.println("IN1,IN2,IN3,IN4"); // Headers for Serial Plotter
}

void loop() {
  // Clockwise rotation (2 revolutions)
  for (int i = 0; i < stepsPerRevolution * 2; i++) {
    runStep(i % 8, true); // true = clockwise
    delayMicroseconds(motorSpeed);
  }
  delay(1000);

  // Counter-clockwise rotation (2 revolutions)
  for (int i = 0; i < stepsPerRevolution * 2; i++) {
    runStep(i % 8, false); // false = counter-clockwise
    delayMicroseconds(motorSpeed);
  }
  delay(1000);
}

void runStep(int stepIndex, bool clockwise) {
  int currentStep = clockwise ? stepIndex : 7 - stepIndex; // Reverse direction if needed
  
  // Write signals to motor driver inputs
  digitalWrite(pinMotor1, bitRead(stepTable[currentStep], 0));
  digitalWrite(pinMotor2, bitRead(stepTable[currentStep], 1));
  digitalWrite(pinMotor3, bitRead(stepTable[currentStep], 2));
  digitalWrite(pinMotor4, bitRead(stepTable[currentStep], 3));

  // Send pin states to Serial Plotter (1 = HIGH, 0 = LOW)
  Serial.print(bitRead(stepTable[currentStep], 0));
  Serial.print(",");
  Serial.print(bitRead(stepTable[currentStep], 1));
  Serial.print(",");
  Serial.print(bitRead(stepTable[cur|rentStep], 2));
  Serial.print(",");
  Serial.println(bitRead(stepTable[currentStep], 3));
}