#include <AccelStepper.h>

// === AJUSTES DE HARDWARE ===
const int motorStepsPerRev = 200;
const int microstepping = 1;  
const float gearRatioRot = 1.0;

const float stepsPerRev = motorStepsPerRev * microstepping;
const float ROT_STEPS_PER_DEGREE = (stepsPerRev * gearRatioRot) / 360.0;
const int MAX_ROTATION_DEG = 300;

const int ROT_DIR_PIN = 5;
const int ROT_STEP_PIN = 2;
const int ROT_ENDSTOP_PIN = 9;

AccelStepper stepperRot(AccelStepper::DRIVER, ROT_STEP_PIN, ROT_DIR_PIN);

bool stopRequested = false;

void setup() {
  Serial.begin(9600);
  pinMode(ROT_ENDSTOP_PIN, INPUT_PULLUP);

  stepperRot.setMaxSpeed(50);
  stepperRot.setAcceleration(50);

  Serial.println("🔧 Listo. Escribe 'start' para mover, 'home' para hacer homing o 'stop' para detener.");
}

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

    if (command == "start") {
      stopRequested = false;
      Serial.println("🚀 Iniciando movimiento angular...");
      homeRotation();
      delay(500);
      runRotation();
      Serial.println("✅ Movimiento completado.");
    } else if (command == "home") {
      Serial.println("🔄 Homing de rotación...");
      homeRotation();
      Serial.println("✅ Homing completo.");
    } else if (command == "stop") {
      stopRequested = true;
      Serial.println("🛑 Movimiento detenido.");
    } else {
      Serial.println("❓ Comando no reconocido. Usa: start | home | stop");
    }
  }
}

void homeRotation() {
  stepperRot.setMaxSpeed(50);
  stepperRot.setAcceleration(50);
  stepperRot.moveTo(-1000);
  while (digitalRead(ROT_ENDSTOP_PIN) == HIGH) {
    stepperRot.run();
  }
  stepperRot.setCurrentPosition(0);
  stepperRot.move(10 * ROT_STEPS_PER_DEGREE);
  while (stepperRot.distanceToGo() != 0) {
    stepperRot.run();
  }
  stepperRot.setCurrentPosition(0);
}

void runRotation() {
  long rotSteps = MAX_ROTATION_DEG * ROT_STEPS_PER_DEGREE;
  stepperRot.moveTo(rotSteps);
  while (stepperRot.distanceToGo() != 0 && !stopRequested) {
    stepperRot.run();
  }
}