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/*
 Stepper Motor Control - one revolution

 This program drives a unipolar or bipolar stepper motor.
 The motor is attached to digital pins 8 - 11 of the Arduino.

 The motor should revolve one revolution in one direction, then
 one revolution in the other direction.


 Created 11 Mar. 2007
 Modified 30 Nov. 2009
 by Tom Igoe

 */

#include <Stepper.h>

const int stepsPerRevolution = 200;  // change this to fit the number of steps per revolution

int beg = 0;
int dir = 1;
// for your motor

// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 2, 3);

//these pins can not be changed 2/3 are special pins
// Setting up the counter
int reading = 0;
int lowest = -200;
int highest = 200;
int changeamnt = 20;

// Timing for polling the encoder
unsigned long currentTime;
unsigned long lastTime;


// Pin definitions
const int pinA = 4;
const int pinB = 5;

// Storing the readings

boolean encA;
boolean encB;
boolean lastA = false;



void setup() {
  // set the speed at 60 rpm:
  //myStepper.setSpeed(200);
  // initialize the serial port:

 // set the two pins as inputs with internal pullups
  pinMode(pinA, INPUT_PULLUP);
  pinMode(pinB, INPUT_PULLUP);
  // Set up the timing of the polling
  currentTime = millis();
  lastTime = currentTime; 
  // Start the serial monitor for debugging
  Serial.begin(9600);
  
  
  
}

void loop() {



// Read elapsed time
  currentTime = millis(); 
  // Check if it's time to read
  if(currentTime >= (lastTime + 5))
  {
    // read the two pins
    encA = digitalRead(pinA);
    encB = digitalRead(pinB);
    // check if A has gone from high to low
    if ((!encA) && (lastA))
    {
      // check if B is high 
      if (encB)
      {
        // clockwise
        if (reading + changeamnt <= highest)
        {
          reading = reading + changeamnt; 
          beg = reading;
//          myStepper.setSpeed(beg);
//          myStepper.step(1000);
        }
      }
      else
      {
        // anti-clockwise
        if (reading - changeamnt >= lowest)
        {
          reading = reading - changeamnt; 
          beg = reading;
//          myStepper.setSpeed(beg);
//          myStepper.step(1000);   
        }
      }
      // Output reading for debugging
      Serial.print("Reading ");
      Serial.println(reading);
      Serial.print("Dir ");
      Serial.println(dir);      
      
    }
    // store reading of A and millis for next loop
    lastA = encA;
    lastTime = currentTime;

  }


if (beg == 0)
  {
myStepper.setSpeed(0);
myStepper.step(0);  
  
  }

if (beg > 0)
  {
//    dir = 1;
myStepper.setSpeed(beg);
myStepper.step(dir);
  }

if (beg < 0)
  {
myStepper.setSpeed(-beg);
myStepper.step(-dir);  
  }
 

  

}