#include <AccelStepper.h>
/*
 * stepper control through big easy driver
 * positions are expressed in centimeters
 * originPos is near the motor, where switchLow gets LOW
 * maxPos is the maximum position, where switchHigh gets LOW
 * idlePos is the idle position
 * lowOffset 
 * highOffset are offsets from originPos/maxPos respectively to define the running zone
 * 
 * Stepper driven through big easy driver
 * configured for 1/4 microstepping (mover micro-steps gives low speed)
 * 800 steps is one rotation
 * one rotation is 1.6cm translation
 * cm to steps ratio is 500 
 */

 // Define a stepper and the pins it will use
AccelStepper stepper(1, 8, 7);

// microswitch pins
int switchLow = A5;

long int speedLimit[2] = { 50 , 10000000 } ;// sets an absolute minimum/maximum speed limit
long int accLimit[2] = { 100, 200000} ;

long int moveTo_Stepper(long int stepto ) {
  stepper.moveTo(stepto);
//  while (!stepper.distanceToGo()==0)
//    stepper.run();
//  stepper.moveTo( constrain( stepto , originPos * stepToCm, maxPos * stepToCm ) );
  return stepper.distanceToGo();
}
//float moveToCm_Stepper(float cmto ) {
//  stepper.moveTo(constrain( cmto * stepToCm , originPos, maxPos ));
//  return stepper.distanceToGo()/stepToCm;
//}
//
long int move_Stepper(long int stepRelative ) {
  stepper.move(stepRelative);
  return stepper.distanceToGo();
}
//float moveCm_Stepper(float cmRelative ) {
//  stepper.move(cmRelative * stepToCm );
//  return stepper.distanceToGo()/stepToCm;
//}
//
long int maxSpeed_Stepper(long int maxspeed){
  stepper.setMaxSpeed( constrain (maxspeed, speedLimit[0], speedLimit[1] ) );
  return stepper.maxSpeed();
}

long int setSpeed_Stepper(long int maxspeed){
  stepper.setSpeed( constrain (maxspeed, speedLimit[0], speedLimit[1] ) );
  return stepper.maxSpeed();
}

long int acceleration_Stepper( long int acc ){
  stepper.setAcceleration(acc + 1); // prevent 0 step/s²
  return acc;
}

//////////////// CALIBRATION ////////////////////////

float init_Stepper(){
//  //run at constant speed until hitting switchLow
//  stepper.setSpeed(-1*speedLimit[1]); 
//  while(digitalRead(switchLow)) {
//    stepper.runSpeed();
//  }
//  stepper.stop();
//  //this is the new 0 step
//  stepper.setCurrentPosition(0);
//
//
//
//  delay(1000); //take a breath
//
//  //run at constant speed until hitting switchHigh
//  stepper.setSpeed(speedLimit[1]);
//  while(digitalRead(switchHigh)) {
//    stepper.runSpeed(); 
//  }
//  stepper.stop();
//  maxPos = stepper.currentPosition() / stepToCm ;
//
//  delay(1000);
//
//  stepper.runToNewPosition(maxPos * stepToCm / 2) ; 
//  return maxPos ;
}

///////////////////// SETUP ///////////////////////////
void setup_Stepper(){
  pinMode (switchLow, INPUT_PULLUP);
//  pinMode (switchHigh, INPUT_PULLUP);
//  stepper.moveTo(rand() % 200000);
  stepper.setMaxSpeed( 20000);
  stepper.setSpeed(10000);
//  while (!stepper.distanceToGo()==0)
//    stepper.run();
//  stepper.moveTo(0);
//  while (!stepper.distanceToGo()==0)
//    stepper.run();
//  stepper.setMaxSpeed(speedLimit[1]);
//  //stepper.setSpeed(10000);
//  stepper.setAcceleration(accLimit[1]);
  
}

///////////////////// LOOP ///////////////////////////

bool update_Stepper() {
  
//  bool updated = 1 ;
  stepper.run();
  
//  if (!digitalRead(switchLow)) {
//    stepper.setCurrentPosition(0);
//    updated=0;
//  }
//  if (!digitalRead(switchHigh)) {
//    stepper.setCurrentPosition(maxPos * stepToCm);
//    updated=0;
//  }
//  return updated ;
}