/*
Program for controling steppermotor by serial

How to use:
type 's' and letters that determined by the value MAX_figure.
example 's002' means '2'.
And, 50 step / 360 degree.(7.1degree/step)
So, the value allows 0 to 50.
 */
 #include <SoftwareSerial.h>
 
 SoftwareSerial mySerial(5,4);//RX,TX

int T1 = 0;
int T2 = 1;
int T3 = 2;
int T4 = 3;

int on_time = 50;//us
int off_time = 10;//us
int PWM_count = 200;

int MAX_figure = 2; 


  int angle;
  int val;
  int figure;
  int CW;//1:CW,0:CCW

// the setup routine runs once when you press reset:
void setup() { 

  
  mySerial.begin(9600);
  
  // initialize the digital pin as an output.
 pinMode(T1, OUTPUT);
 pinMode(T2, OUTPUT); 
 pinMode(T3, OUTPUT);
 pinMode(T4, OUTPUT);
}



// the loop routine runs over and over again forever:
void loop() { 
  

  
  if(mySerial.available()){
    val = mySerial.read();
    if(val=='c'){
      figure = MAX_figure;
      angle = 0;
      CW=1;
    }else if(val=='r'){
       figure = MAX_figure;
       angle = 0;
       CW=0;
    }else{  
      val -= 48;
      for(int i=1;i<figure;i++){
       val *=10; 
      }
      angle += val;
      figure -=1;

      if(figure==0){
        mySerial.println(angle,DEC);
        if(CW==1){
          mySerial.println("CW");
          cw_rotate(angle);
        }else{
          ccw_rotate(angle);
          mySerial.println("CCW");
        }        
      }
    } 
   }

       

}


void pulse_out(int port_no){
  int i;
   for(i=0;i<PWM_count;i++){
       digitalWrite(port_no,HIGH);
       delayMicroseconds(on_time);
       digitalWrite(port_no,LOW);
       delayMicroseconds(off_time);
   }
}

void cw_rotate(int step_value){
  int i;
  for(i=0;i<step_value;i++){
    pulse_out(T3);
    pulse_out(T2);
    pulse_out(T4);
    pulse_out(T1);
  }
}

void ccw_rotate(int step_value){
  int i;
  for(i=0;i<step_value;i++){
    pulse_out(T1);
    pulse_out(T4);
    pulse_out(T2);
    pulse_out(T3);
  }
}