// ******************************
//  Sketch by R. Jordan Kreindler, written October 2016
//    to work with DRV8825 stepper driver module
//  Rotates stepper in full, 1/2, 1/4, 1/8, 1/16, and 1/32 step modes
//    with the parameter "rotations" specifying how many times to
//    rotate for each stepping mode
// ******************************

#include <LiquidCrystal.h>
// LiquidCrystal (RS,  E, d4, d5, d6, d7)
LiquidCrystal lcd(13, 12, 11, 10,  9,  8); // For standalone, non-shield, LCD

int ms1Pin   = A0;            // Stepstick MS0 to Arduino digital pin 9
int ms2Pin   = A1;            // Stepstock MS1 to Arduino digital pin 10
int ms3Pin   = A2;            // Stepstick MS2 to Arduino digital pin 11

int stepPin  = A3;            // Stepstick STEP pin to Arduino digital pin 12
int dirPin   = A4;            // Stepstick DIR pin to Arduino digital  pin 13

int numSteps = 48;            // Number of steps in 360 degree rotation
int rotations = 3;            // Number of rotations of the rotor for each

int delay1  =   10;           // Delay between coil activations (ms)
int delay2  = 2000;           // Delay between subsequent rotations
int i;                        // int to use in for loop

//------------------------------
void setup() {

  pinMode(ms1Pin,          OUTPUT); // MS1 set to receive Arduino signals
  pinMode(ms2Pin,          OUTPUT); // MS2 set to receive Arduino signals
  pinMode(ms3Pin,          OUTPUT); // MS3 set to receive Arduino signals
  pinMode(stepPin,         OUTPUT); // stepPin set to receive Arduino signals
  pinMode(dirPin,          OUTPUT); // DIR set to receive Arduino signals
  lcd.begin(16, 2); // Sets the size of the LCD in characters and lines
  lcd.clear();     // Clear the LCD screen of characters and symbols}
  lcd.setCursor(0,0);
  lcd.print("   Stepstick");
  lcd.setCursor(0,1);
  lcd.print(" Mode: ");
}

//------------------------------

void loop() {

  delay(delay2);
  digitalWrite(dirPin, LOW);
    lcd.setCursor(7, 1);      // Move the cursor to 1th position on 1st line
    lcd.print("Full Step    ");
  // Rotate stepper rotatations revolutions, using full step method
  digitalWrite(ms1Pin, LOW);
  digitalWrite(ms2Pin, LOW);
  digitalWrite(ms3Pin, LOW);

  for (i = 1; i <= (numSteps * 1 * rotations); ++i) {
    digitalWrite(stepPin, LOW);   // Prepare to take a step
    digitalWrite(stepPin, HIGH) ; // Take a step
    delay(delay1);                // Allow some delay between energizing
    // the coils to allow stepper rotor time to respond.
  }
  delay(delay2);

  digitalWrite(dirPin, HIGH);
  // Rotate stepper rotatations revolutions, using half step method
  digitalWrite(ms1Pin, HIGH);
  digitalWrite(ms2Pin, LOW);
  digitalWrite(ms3Pin, LOW);
    lcd.setCursor(7, 1);      // Move the cursor to 1th position on 1st line
    lcd.print("2 Step        ");
  for (i = 1; i <= (numSteps * 2 * rotations); ++i) {
    digitalWrite(stepPin, LOW);   // Prepare to take a step
    digitalWrite(stepPin, HIGH) ; // Take a step
    delay(delay1);                // Allow some delay between energizing
    // the coils to allow stepper rotor time to respond.
  }


  delay(delay2);
  digitalWrite(dirPin, LOW);

  // Rotate stepper a rotatations revolutions, using quarter stepping
  digitalWrite(ms1Pin, LOW);
  digitalWrite(ms2Pin, HIGH);
  digitalWrite(ms3Pin, LOW);
    lcd.setCursor(7, 1);      // Move the cursor to 1th position on 1st line
    lcd.print("4 Step        ");
  for (i = 1; i <= (numSteps * 4 * rotations); ++i) {
    digitalWrite(stepPin, LOW);   // Prepare to take a step
    digitalWrite(stepPin, HIGH) ; // Take a step
    delay(delay1);                // Allow some delay between energizing
    // the coils to allow stepper rotor time to respond.
  }

  // Rotate stepper rotations revolution, using microstepping
  //  8 steps/step

  delay(delay2);
  digitalWrite(dirPin, HIGH);

  digitalWrite(ms1Pin, HIGH);
  digitalWrite(ms2Pin, HIGH);
  digitalWrite(ms3Pin, LOW);
  
    lcd.setCursor(7, 1);      // Move the cursor to 1th position on 1st line
    lcd.print("8 Step        ");
  for (i = 1; i <= (numSteps * 8 * rotations); ++i) {
    digitalWrite(stepPin, LOW);   // Prepare to take a step
    digitalWrite(stepPin, HIGH) ; // Take a step
    delay(delay1);                // Allow some delay between energizing
    // the coils to allow stepper rotor time to respond.
  }

  // Rotate stepper rotations revolution, using microstepping
  //  16 steps/step

  delay(delay2);
  digitalWrite(dirPin, LOW);

  digitalWrite(ms1Pin, LOW);
  digitalWrite(ms2Pin, LOW);
  digitalWrite(ms3Pin, HIGH);
  lcd.setCursor(7,1);
  lcd.print("16 Step          ");
  for (i = 1; i <= numSteps * 16 * rotations; ++i) {
    digitalWrite(stepPin, LOW);   // Prepare to take a step
    digitalWrite(stepPin, HIGH) ; // Take a step
    delay(delay1);                // Allow some delay between energizing
    // the coils to allow stepper rotor time to respond.
  }

  // Rotate stepper rotations revolution, using microstepping
  //  32 steps/step

  delay(delay2);
  digitalWrite(dirPin, HIGH);

  digitalWrite(ms1Pin, HIGH);
  digitalWrite(ms2Pin, HIGH);
  digitalWrite(ms3Pin, HIGH);
  lcd.setCursor(7,1);
  lcd.print("32 Step          ");
  for (i = 1; i <= numSteps * 32 * rotations; ++i) {
    digitalWrite(stepPin, LOW);   // Prepare to take a step
    digitalWrite(stepPin, HIGH) ; // Take a step
    delay(delay1);                // Allow some delay between energizing
    // the coils to allow stepper rotor time to respond.
  }

//
}