#include <Arduino.h> //Required only in Platformio
#include <AccelStepper.h>

bool newData;
char pythonData; //Serial data coming from python
byte Enable_All_Steppers = 8; //Pin 8 Low = Enable,High = disable
String abc;

AccelStepper stepperX(1,2,5); //(DirStep type,Step pin, Dir pin)
AccelStepper stepperY(1,3,6); //(DirStep type,Step pin, Dir pin)
AccelStepper stepperZ(1,4,7); //(DirStep type,Step pin, Dir pin)

void setup(){
  pinMode(2,OUTPUT); //x step
  pinMode(5,OUTPUT); //d dir
  pinMode(3,OUTPUT); //y step
  pinMode(6,OUTPUT); //y dir
  pinMode(4,OUTPUT); //z step
  pinMode(7,OUTPUT); //z dir
  pinMode(Enable_All_Steppers, OUTPUT);

  Serial.begin(115200);
  digitalWrite(Enable_All_Steppers,1); //0=enable all steppers, 1=disable
  stepperX.setMaxSpeed(700); //Steps/sec
  stepperX.setAcceleration(1400); //steps/sec^2 (uses lot's of computational power)
  //x_motor.setSpeed(500); // used with runSpeed()  
}

void loop(){
  if (Serial.available() > 0){
    pythonData = Serial.read(); //read serial sent from Python
    newData = true; //Flag there is new data

    if(pythonData == 'x'){
        digitalWrite(Enable_All_Steppers,0); //0=enable all steppers, 1=disable
        stepperX.move(1000); //Set the target position relative to the current position
        stepperX.runToPosition(); //Moves the motor (with accel./decel.) to target position and blocks until it is at position. Dont use this in event loops, since it blocks.
        digitalWrite(Enable_All_Steppers,1); //0=enable all steppers, 1=disable
        Serial.println("x move done");
    }
    if(pythonData == 'y'){
        stepperX.move(1000); //Set the target position relative to the current position
        stepperX.runToPosition(); //Moves the motor (with accel./decel.) to target position and blocks until it is at position. Dont use this in event loops, since it blocks.
        Serial.println("y move done");
    }
    if(pythonData == 'e'){
        digitalWrite(Enable_All_Steppers,0); //0=enable all steppers, 1=disable
        Serial.println("All motors enabled");
    }
    if(pythonData == 'd'){
        digitalWrite(Enable_All_Steppers,1); //0=enable all steppers, 1=disable
        Serial.println("All motors disabled");
    }
  }
  newData = false; //turn off new data flag
}

  //stepperX.move(-1000); //Set the target position relative to the current position
  //stepperX.runToPosition(); //Moves the motor (with accel./decel.) to target position and blocks until it is at position. Dont use this in event loops, since it blocks.
  //digitalWrite(Enable_All_Steppers,1);
  //delay(500);

// D9  +/-X-Limit   D10 +/-Y-Limit    D11 +/-Z-Limit
// D8  Enable/Disable all stepper
// D12 Spindle enable/A step
// D13 Spindle direction/A direction
//https://www.airspayce.com/mikem/arduino/AccelStepper/classAccelStepper.html#ace236ede35f87c63d18da25810ec9736
//Brainy-bits: https://www.youtube.com/watch?v=YsLykxnHApg&t=277s