/*
* Lesson 107-2: Controlling a stepper motor from the Serial Monitor
In this lesson, we learn how to use a mini stepper motor 28BYJ-48 for our project. I am presenting eight projects 
  so you can use it in almost any application. In the video, I have explained the code, shown the full wiring diagram, and 
  how to connect the wires, push buttons, and breadboard. 

  Project 2: We will push different keys on the keyboard and control the motor
 
 
  Project 1: Running the motor
  Project 2: Controlling a stepper motor from the Serial Monitor (this code)
  Project 3:  Controlling a stepper motor using push button STPB-1
  Project 4: Controlling using push button STPB-2  keep pressing
  Project 5: One Revolution using push button STPB-3
  Project 6: Push button for any angle and speed STPB-4
  Project 7: Using multiple buttons for any angle STPB-5 angle, speed, and direction
  Project 8: Controlling a stepper motor using a potentiometer

  * Watch video instructions for this code: https://youtu.be/TQ7R2bY-MWU
  * 
  * This code is part of the Arduino Step by Step Course, which starts here:  https://youtu.be/-6qSrDUA5a8
  * 
  * For the library for this code, visit http://robojax.com/
  * 
 If you found this tutorial helpful, please support me so I can continue creating 
 content like this. Make a donation using PayPal or a credit card: https://bit.ly/donate-robojax 
 

 
  *  * This code is "AS IS" without warranty or liability. Free to be used as long as you keep this note intact.* 
  * This code has been downloaded from Robojax.com
     This program is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
     along with this program.  If not, see <https://www.gnu.org/licenses/>.

 */

int Pin1 = 10;//IN1 is connected to 10 
int Pin2 = 11;//IN2 is connected to 11  
int Pin3 = 12;//IN3 is connected to 12  
int Pin4 = 13;//IN4 is connected to 13  
int pole1[] ={0,0,0,0, 0,1,1,1, 0};//pole1, 8 step values
int pole2[] ={0,0,0,1, 1,1,0,0, 0};//pole2, 8 step values
int pole3[] ={0,1,1,1, 0,0,0,0, 0};//pole3, 8 step values
int pole4[] ={1,1,0,0, 0,0,0,1, 0};//pole4, 8 step values

int commandLeft  =106;// 106 is ASCII value for lowercase L (l) rotate CW
int commandStop  =107;// 107 is ASCII value for lowercase K (k) stops
int commandRight =108;// 108 is ASCII value for lowercase J (j) rotate CCW

int poleStep = 0; 
int  dirStatus = 3;// stores direction status 3= stop (do not change)
int directionCommand = commandStop;
void setup() 
{ 
 pinMode(Pin1, OUTPUT);  
 pinMode(Pin2, OUTPUT);  
 pinMode(Pin3, OUTPUT);  
 pinMode(Pin4, OUTPUT);  
  Serial.begin(9600);
  Serial.println("Robojax 28BYJ-48 Stepper"); 
} 
 void loop() 
{ 
  directionCommand =getCommand();
  if(directionCommand ==commandRight) 
  {
    dirStatus =1;
  }else if(directionCommand ==commandLeft)
  {
   dirStatus  = 2;  
  }else if(directionCommand ==commandStop)
  {
    dirStatus =3; 
  }
 if(dirStatus ==1){ 
   poleStep++; 
    driveStepper(poleStep);    
 }else if(dirStatus ==2){ 
   poleStep--; 
    driveStepper(poleStep);    
 }else{
  driveStepper(8);   
 }
 if(poleStep>7){ 
   poleStep=0; 
 } 
 if(poleStep<0){ 
   poleStep=7; 
 } 
 delay(1); 

}// loop

void driveStepper(int c)
{
     digitalWrite(Pin1, pole1[c]);  
     digitalWrite(Pin2, pole2[c]); 
     digitalWrite(Pin3, pole3[c]); 
     digitalWrite(Pin4, pole4[c]);   
}

/*
 * 
 * @brief Turns gets command from Serial monitor to control  
 * direction of stepper motor
 * @param none
 * @return integer value of ASCII character
 */
int getCommand()
{
  int command =0;
        if (Serial.available() > 0) {
                command =Serial.read()  ;
        } 
  //Serial.println(command);
 if(command >= commandLeft &&   command <= commandRight){   
  return command; 
 }else{
  return 1000;//nothing was received
 }
}//getCommand() end