/*
  Example sketch to control a stepper motor with A4988 stepper motor driver, 
  AccelStepper library and Arduino: continuous rotation. 
  More info: https://www.makerguides.com 
*/

// Include the AccelStepper library:
#include "AccelStepper.h"


// Define stepper motor connections and motor interface type. 
#define dirPin 2
#define stepPin 3
#define motorInterfaceType 1
// Motor interface type must be set to 1 when using a driver
#define ms1Pin 4
#define ms2Pin 5
#define ms3Pin 6

#define speedPin A0
double lastTime = 0;
// double lastTimesensors = 0;
double thisTime = 0;
const int SPEED_MIN = 50;
const int SPEED_MAX = 800;


// Create a new instance of the AccelStepper class:
AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);


void setup() {
  Serial.begin(115200);
  // Set the maximum speed in steps per second:
  stepper.setMaxSpeed(4000);

  // MS
  // 1 2 3
  // 0 0 0 full
  // 1 0 0 1/2
  // 0 1 0 1/4
  // 0 0 1 1/8
  // 1 1 1 1/16
  digitalWrite(ms1Pin, 1);
  digitalWrite(ms2Pin, 1);
  digitalWrite(ms3Pin, 1);
  
  // Set the speed in steps per second:
  stepper.setSpeed(200);


}

void loop() {
  thisTime = millis();
  if ((thisTime - lastTime) > 1000) {
    lastTime = thisTime;
    int speed_in = analogRead(speedPin);
    Serial.print("speed_in : ");
    Serial.print(speed_in);
    int speed = map(speed_in, 0, 1023, SPEED_MIN, SPEED_MAX);
    Serial.print(" | speed : ");
    Serial.println(speed);
    stepper.setSpeed(speed);
  }

  // Step the motor with a constant speed as set by setSpeed():
  stepper.runSpeed();
  
}