//program for controling 2 step motors(2coils/motor) with a 1achses analog gamepadjoystick for 1000mWlaz0r graving machine
//receiving images from pc later..
//MEOW itf free use it or parts if usefull

#define mesy PA1
#define mesx PA2
#define t1 PA3
#define rot  PC13
#define grun PC14
#define blau PC15
#define laz0r PA5
#define laz0r2 PA6
#define t2 PA4
#define t3 PA0

#define m1_a PB12
#define m1_b PB13
#define m1_c PB14
#define m1_d PB15
//module two
#define m2_a PA8
#define m2_b PA9
#define m2_c PB1
#define m2_d PB0



long allfcount  = micros();
long maintime  = millis();


int onpress[17];
int zeit1 =0;
long zeita =10; //untervallspeed
int zeitb =0; //anzeitverlängerung
int zeitc =30; //auszeitverlängerung
int teiler =1; //emfpindlichkeit
int fcount1 =0;

int soundi =0;
int soundminimum =2;
int setled=10;
int colorindex2 =0;
int setled2 =10;
int zeit2=0;
int volcount =0;
int onof=0;
void setup() {
  pinMode(rot, OUTPUT);
  pinMode(grun, OUTPUT);
  pinMode(blau, OUTPUT);
  pinMode(laz0r, OUTPUT);
  pinMode(laz0r2, OUTPUT);
  pinMode(m1_a, OUTPUT);
  pinMode(m1_b, OUTPUT);
  pinMode(m1_c, OUTPUT);
  pinMode(m1_d, OUTPUT);
  pinMode(m2_a, OUTPUT);
  pinMode(m2_b, OUTPUT);
  pinMode(m2_c, OUTPUT);
  pinMode(m2_d, OUTPUT);
  pinMode(t1, INPUT);
  pinMode(t2, INPUT);
  pinMode(t3, INPUT);
  digitalWrite(m1_a,HIGH);  digitalWrite(m1_b,HIGH); digitalWrite(m1_c,HIGH); digitalWrite(m1_d,HIGH);
  digitalWrite(m2_a,HIGH);  digitalWrite(m2_b,HIGH); digitalWrite(m2_c,HIGH); digitalWrite(m2_d,HIGH);
 // delay( 3000 ); // power-up safety delay
}
int motor1w=0;



int motor2w=0;


int powerz=0;
int32_t xer=1000;
int32_t yer=1000;
void loop() {
  zeitreise();
  istinput();
if (digitalRead(t1) == HIGH ) {onof=1;}
if (digitalRead(t1) == LOW && powerz==0) {onof=0;}
  if (onof==1 ||powerz==1)  {digitalWrite(laz0r,HIGH);digitalWrite(laz0r2,HIGH); }
if (onof ==0 )  {digitalWrite(laz0r,LOW);digitalWrite(laz0r2,LOW); }
  if (xer >1060) {motor2(0,1061-(xer-1060),true,true);}//unten
  if (xer <1000) {motor2(0,xer,false,true);}
  if (xer <1060 && xer > 1000) {motor2(0,xer,true,false);}
  if (yer >1010) {motor1(0,1011-(yer-1010),false,true);}//oben
  if (yer <960) {motor1(0,yer,true,true);}
  if (yer <1010 && yer > 960) {motor1(0,yer,true,false);}
}
long motor1time = micros();
int motor1zeit=2;
void motor1(int posi,int32_t speedr,boolean links,boolean go) {//oben
    while ((micros()- motor1time) >=  (((speedr+50)*150)+100)) {
  if (go==true && links==true) { motor1zeit--;}
  if (go==true && links==false) { motor1zeit++;}
    motor1time = micros();
}

  if (motor1zeit ==4) {digitalWrite(m1_d,HIGH); digitalWrite(m1_c,HIGH); digitalWrite(m1_b,HIGH); digitalWrite(m1_a,LOW);}
  if (motor1zeit ==2) {digitalWrite(m1_a,HIGH); digitalWrite(m1_d,HIGH); digitalWrite(m1_c,HIGH); digitalWrite(m1_b,LOW);}
  if (motor1zeit ==3) {digitalWrite(m1_b,HIGH); digitalWrite(m1_a,HIGH); digitalWrite(m1_d,HIGH); digitalWrite(m1_c,LOW);}
  if (motor1zeit ==5) {digitalWrite(m1_c,HIGH); digitalWrite(m1_b,HIGH); digitalWrite(m1_a,HIGH); digitalWrite(m1_d,LOW);}
  if (motor1zeit <=1) {motor1zeit=5;}
  if (motor1zeit >=6) {motor1zeit=2;}}

long motor2time = micros();
int motor2zeit=2;
void motor2(int posi2,int32_t speedr2,boolean links2,boolean go2) {//unten
    while ((micros()- motor2time) >=  (((speedr2+50)*150)+100)) {
  if (go2==true && links2==true) { motor2zeit--;}
  if (go2==true && links2==false) { motor2zeit++;}
    motor2time = micros();
}
  if (motor2zeit <=1) {motor2zeit=5;}
  if (motor2zeit ==4) {digitalWrite(m2_d,HIGH); digitalWrite(m2_c,HIGH); digitalWrite(m2_b,HIGH); digitalWrite(m2_a,LOW); digitalWrite(grun, HIGH );}//1
  if (motor2zeit ==2) {digitalWrite(m2_a,HIGH); digitalWrite(m2_d,HIGH); digitalWrite(m2_c,HIGH); digitalWrite(m2_b,LOW);digitalWrite(rot, LOW );}//3
  if (motor2zeit ==3) {digitalWrite(m2_b,HIGH); digitalWrite(m2_a,HIGH); digitalWrite(m2_d,HIGH); digitalWrite(m2_c,LOW);digitalWrite(rot, HIGH );digitalWrite(grun, LOW );}//2
  if (motor2zeit ==5) {digitalWrite(m2_c,HIGH); digitalWrite(m2_b,HIGH); digitalWrite(m2_a,HIGH); digitalWrite(m2_d,LOW);digitalWrite(blau, HIGH ); }//4
 // if (motor2zeit ==8) {digitalWrite(m2_d,HIGH); digitalWrite(m2_c,HIGH); digitalWrite(m2_b,HIGH); digitalWrite(m2_a,LOW); digitalWrite(blau, LOW );}//1
 // if (motor2zeit ==6) {digitalWrite(m2_a,HIGH); digitalWrite(m2_d,HIGH); digitalWrite(m2_c,HIGH); digitalWrite(m2_b,LOW);}//3
 // if (motor2zeit ==9) {digitalWrite(m2_b,HIGH); digitalWrite(m2_a,HIGH); digitalWrite(m2_d,HIGH); digitalWrite(m2_c,LOW);}//2
//  if (motor2zeit ==7) {digitalWrite(m2_c,HIGH); digitalWrite(m2_b,HIGH); digitalWrite(m2_a,HIGH); digitalWrite(m2_d,LOW);}//4
  if (motor2zeit >=6) {motor2zeit=2;}}


void istinput(void){
  if (zeit1 >=2) {
  if (digitalRead(t1) == HIGH && onpress[0] ==0) { onpress[0] =1; }//motor2(0,100,false,true);}     //minisound
  if (onpress[0] == 1) { onpress[1]++; digitalWrite(blau,HIGH); }
  if (onpress[1] >= 15) { onpress[1] =0; onpress[0]=0; }

  if (digitalRead(t2) == HIGH && onpress[2] ==0) { onpress[2] =1; powerz++; if (powerz>=2) {powerz=0;}}// motor2(0,100,true,true); }
  if (onpress[2] == 1) { onpress[3]++; digitalWrite(rot,HIGH); }
  if (onpress[3] >= 30) { onpress[3] =0; onpress[2]=0; }
/*  if (digitalRead(t3) == HIGH && onpress[4] ==0) { onpress[4] =1; speed1-=1; }
  if (onpress[4] == 1) { onpress[5]++;}
  if (onpress[5] == 2) { teiler--; digitalWrite(pruf, HIGH );} //tudinge
  if (onpress[5] >= 3) { onpress[5] =0; onpress[4]=0; digitalWrite(pruf, LOW ); }*/
  zeit1=0;
  }

}
long shorttime=micros();
void zeitreise(void){
  while ((millis()- maintime) >=  10) {
   zeit1++; zeit2++; digitalWrite(rot,LOW);digitalWrite(grun,LOW);digitalWrite(blau,LOW);
  maintime = millis();
  }
  while ((micros()- shorttime) >=  100) {
  if ((analogRead(mesx)/2) > xer && xer<=2020) {xer++;}
  if ((analogRead(mesx)/2) < xer && xer>=1) {xer--;}
  if ((analogRead(mesy)/2) > yer && yer<=2020) {yer++;}
  if ((analogRead(mesy)/2) < yer && yer>=1) {yer--;}

  shorttime = micros();
  }
}



//
//programm by marderchen =^.^=
/*
 MMMMMMMM               MMMMMMMMEEEEEEEEEEEEEEEEEEEEEE     OOOOOOOOO     WWWWWWWW                           WWWWWWWW
M:::::::M             M:::::::ME::::::::::::::::::::E   OO:::::::::OO   W::::::W                           W::::::W
M::::::::M           M::::::::ME::::::::::::::::::::E OO:::::::::::::OO W::::::W                           W::::::W
M:::::::::M         M:::::::::MEE::::::EEEEEEEEE::::EO:::::::OOO:::::::OW::::::W                           W::::::W
M::::::::::M       M::::::::::M  E:::::E       EEEEEEO::::::O   O::::::O W:::::W           WWWWW           W:::::W
M:::::::::::M     M:::::::::::M  E:::::E             O:::::O     O:::::O  W:::::W         W:::::W         W:::::W
M:::::::M::::M   M::::M:::::::M  E::::::EEEEEEEEEE   O:::::O     O:::::O   W:::::W       W:::::::W       W:::::W
M::::::M M::::M M::::M M::::::M  E:::::::::::::::E   O:::::O     O:::::O    W:::::W     W:::::::::W     W:::::W
M::::::M  M::::M::::M  M::::::M  E:::::::::::::::E   O:::::O     O:::::O     W:::::W   W:::::W:::::W   W:::::W
M::::::M   M:::::::M   M::::::M  E::::::EEEEEEEEEE   O:::::O     O:::::O      W:::::W W:::::W W:::::W W:::::W
M::::::M    M:::::M    M::::::M  E:::::E             O:::::O     O:::::O       W:::::W:::::W   W:::::W:::::W
M::::::M     MMMMM     M::::::M  E:::::E       EEEEEEO::::::O   O::::::O        W:::::::::W     W:::::::::W
M::::::M               M::::::MEE::::::EEEEEEEE:::::EO:::::::OOO:::::::O         W:::::::W       W:::::::W
M::::::M               M::::::ME::::::::::::::::::::E OO:::::::::::::OO           W:::::W         W:::::W
M::::::M               M::::::ME::::::::::::::::::::E   OO:::::::::OO              W:::W           W:::W
MMMMMMMM               MMMMMMMMEEEEEEEEEEEEEEEEEEEEEE     OOOOOOOOO                 WWW             WWW
`..`... `......  `.. ..       `........`.......    `........`........
`..     `..    `..    `..     `..      `..    `..  `..      `..
`..     `..     `..           `..      `..    `..  `..      `..
`..     `..       `..         `......  `. `..      `......  `......
`..     `..          `..      `..      `..  `..    `..      `..
`..     `..    `..    `..     `..      `..    `..  `..      `..
`..     `..      `.. ..       `..      `..      `..`........`........
 */