// Author: Andrew Hutcheon
// Email: andy@hutchyweb.co.uk 
// Web: www.hutchyweb.co.uk/astro
// Description: This code is for my home made focuser v2 see my BLOG for more info
// Date: 25/06/2014

// Define variables
int nBig = 25;               // Size of a big step
int fPin = 8;                // L293D Chip Forward pin
int rPin = 7;                // L293D Chip Reverse pin
int fBut = 5;                // 1 step forward button pin
int ffBut = 3;               // Big step forward button 
int rBut = 4;                // 1 step backward button pin
int rrBut = 2;               // Big step backward button
int prkBut = 11;             // Park button
int fifBut = 12;             // 50% button
int maxBut = 10;             // Max out button
int hBut = 9;                // Halt button
int prk = 0;                 // Variable for park
int mx = 0;                  // Variable for steps to Max
int fif = 0;                 // Variable for steps 50%
int hlt = 0;                 // Variable for halt
int cPos = 0;                // Current position
int sSize = 10;              // Step sizes
int pStep = 0;               // Pause Between Steps
int maxPos = 2250;           // Set max position
int minPos = 0;              // Set minimum position
int f = 0;                   // Variable for step forward
int ff = 0;                  // Variable for step fast forward (big step)
int r = 0;                   // Variable for step backward
int rr = 0;                  // Variable for step fast backward (big step)
int cmd = 0;                 // Serial command
int mCmd;                    // Serial move
int DoMove;                  // Move triger
int iSteps;                  // Move steps
int i = 0;                   // Counter
int mi = 0;                  // Move counter
String nPos;                 // Position number
String sEnd = "#";           // Serial End 
String FIN;                  // Final Serial Send
String inString = "";        // string to hold serial input

void setup()
{
  // Setup Pins  
  pinMode(fBut, INPUT);
  pinMode(ffBut, INPUT);
  pinMode(rBut, INPUT);
  pinMode(rrBut, INPUT);
  pinMode(fPin, OUTPUT);
  pinMode(rPin, OUTPUT);
  
  // Setup Derial
  Serial.begin(9600);
  Serial.flush();
  Serial.setTimeout(100);
  // Reset Pins
  digitalWrite(fPin, LOW);
  digitalWrite(rPin, LOW);

}

void loop()
{

  
    // Read the pushbutton input pin:
    if (DoMove == 0) {
      f = digitalRead(fBut);
      ff = digitalRead(ffBut);
      r = digitalRead(rBut);
      rr = digitalRead(rrBut);
      prk = digitalRead(prkBut);
      fif = digitalRead(fifBut);
      mx = digitalRead(maxBut);

      if (f == 1) {
        DoMove = 1;
        iSteps = 1;
        delay(300);
        //Serial.println(f);
      }

      if (ff == 1) {
        DoMove = 1;
        iSteps = nBig;
        //Serial.println(ff);
      }
      
      if (r == 1) {
        DoMove = 1;
        iSteps = -1;
        delay(300);
        //Serial.println(r);
      }
      
      if (rr == 1) {
        DoMove = 1;
        iSteps = -nBig;
        //Serial.println(rr);
      }
      
      if (prk == 1) {
        DoMove = 1;
        iSteps = 0 - cPos;
        //Serial.println(prk);
      }
      
      if (fif == 1) {
        DoMove = 1;
        iSteps = (maxPos / 2) - cPos;
        //Serial.println(fif);
      }
      
      if (mx == 1) {
        DoMove = 1;
        //iSteps = maxPos - cPos;
        iSteps = ((maxPos / 100) * 75) - cPos;
        //Serial.println(mx);
      }
    }

    // Read serial input
    if (Serial.available() >0) {
      //cmd = Serial.parseInt();
      inString = "";
      inString = Serial.readStringUntil('#');
      cmd = inString.toInt();
      if (cmd == 9999) {                     // This is the GET position call
        FIN = cPos + sEnd;
        Serial.println(FIN);
        //Serial.println(cPos);
        cmd = 0;
      }
      else if (cmd == 8888) {                // Halt
        DoMove = 0;
        iSteps = 0;
        mi = 0;
        cmd = 0;
      }
      else if (cmd == 7777) {                // Return 
        FIN = maxPos + sEnd;
        Serial.println(FIN);
        cmd = 0;
      }
      else if ((cmd >0) && (DoMove == 0)){   // Move the focuser
        mCmd = cmd - cPos;
        DoMove = 1;
        iSteps = mCmd;
        cmd = 0;
      }
    }

    //New Move Focuser
    if (DoMove == 1) {
      //do stepper motor stuff
      
      hlt = digitalRead(hBut);
      if (hlt == 1) {
        DoMove = 0;
        iSteps = 0;
        mi = 0;
        //FIN = cPos + sEnd;
        //Serial.println(FIN);
      }      

      if (iSteps >= 0) {
    	if ((mi != iSteps) && (cPos != maxPos)) {
          mi = mi + 1;
	  cPos = cPos + 1;
          digitalWrite(fPin, HIGH);	// This LOW to HIGH change is what creates the
          delay(sSize);			// This delay time between steps
          digitalWrite(fPin, LOW);	// "Rising Edge" so the easydriver knows to when to step.
          delay(pStep);			// This delay time between steps
        }
        else
        {
          DoMove = 0;
          mi = 0;
          //FIN = cPos + sEnd;
          //Serial.println(FIN);
        }
      }
      else {
    	if ((mi != iSteps) && (cPos != minPos)) {
          mi = mi - 1;
	  cPos = cPos - 1;
          digitalWrite(rPin, HIGH);	// This LOW to HIGH change is what creates the
          delay(sSize);			// This delay time between steps
          digitalWrite(rPin, LOW);	// "Rising Edge" so the easydriver knows to when to step.
          delay(pStep);			// This delay time between steps
        }
        else {
          DoMove = 0;
          mi = 0;
          //FIN = cPos + sEnd;
          //Serial.println(FIN);
        }
      }  
    }
}