/*
  StepperMulti.h
  ( http://blog.danggun.net/2092 )

  이 라이브러리는 아두이노의 'Stepper.h'를 개조한 라이브러리입니다.
  (Stepper.h : http://arduino.cc/en/reference/stepper )
  모든 내용은 'Stepper.h'와 거의 동일합니다.
  (0.4버전 기준)
  
*/

// ensure this library description is only included once
#ifndef StepperMulti_h
#define StepperMulti_h

// library interface description
class StepperMulti 
{
  public:
    // constructors:
    StepperMulti(int number_of_steps, int motor_pin_1, int motor_pin_2);
    StepperMulti(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4);

    // speed setter method:
    void setSpeed(long whatSpeed);

    // mover method:
    void setStep(int number_of_steps);

	//'loop()'안에서 이 메소드를 호출해야 한다.
	void moveStep();

  private:
    void stepMotor(int this_step);
    
    int direction;        // Direction of rotation
    int speed;          // Speed in RPMs
    unsigned long step_delay;    // delay between steps, in ms, based on speed
    int number_of_steps;      // total number of steps this motor can take
    int pin_count;        // whether you're driving the motor with 2 or 4 pins
    int step_number;        // which step the motor is on
    
    // motor pin numbers:
    int motor_pin_1;
    int motor_pin_2;
    int motor_pin_3;
    int motor_pin_4;
    
    long last_step_time;      // time stamp in ms of when the last step was taken

	//스텝 저장
	int steps_left;
};

#endif

#include "Arduino.h"
#include "StepperMulti.h"

/*
 * two-wire constructor.
 * Sets which wires should control the motor.
 */
StepperMulti::StepperMulti(int number_of_steps, int motor_pin_1, int motor_pin_2)
{
  this->steps_left = 0;	//스탭초기화

  this->step_number = 0;      // which step the motor is on
  this->speed = 0;        // the motor speed, in revolutions per minute
  this->direction = 0;      // motor direction
  this->last_step_time = 0;    // time stamp in ms of the last step taken
  this->number_of_steps = number_of_steps;    // total number of steps for this motor
  
  // Arduino pins for the motor control connection:
  this->motor_pin_1 = motor_pin_1;
  this->motor_pin_2 = motor_pin_2;

  // setup the pins on the microcontroller:
  pinMode(this->motor_pin_1, OUTPUT);
  pinMode(this->motor_pin_2, OUTPUT);
  
  // When there are only 2 pins, set the other two to 0:
  this->motor_pin_3 = 0;
  this->motor_pin_4 = 0;
  
  // pin_count is used by the stepMotor() method:
  this->pin_count = 2;
}


/*
 *   constructor for four-pin version
 *   Sets which wires should control the motor.
 */

StepperMulti::StepperMulti(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4)
{
  this->steps_left = 0;	//스탭초기화

  this->step_number = 0;      // which step the motor is on
  this->speed = 0;        // the motor speed, in revolutions per minute
  this->direction = 0;      // motor direction
  this->last_step_time = 0;    // time stamp in ms of the last step taken
  this->number_of_steps = number_of_steps;    // total number of steps for this motor
  
  // Arduino pins for the motor control connection:
  this->motor_pin_1 = motor_pin_1;
  this->motor_pin_2 = motor_pin_2;
  this->motor_pin_3 = motor_pin_3;
  this->motor_pin_4 = motor_pin_4;

  // setup the pins on the microcontroller:
  pinMode(this->motor_pin_1, OUTPUT);
  pinMode(this->motor_pin_2, OUTPUT);
  pinMode(this->motor_pin_3, OUTPUT);
  pinMode(this->motor_pin_4, OUTPUT);

  // pin_count is used by the stepMotor() method:  
  this->pin_count = 4;  
}

/*
  Sets the speed in revs per minute

*/
void StepperMulti::setSpeed(long whatSpeed)
{
  this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed;
}

/*
  Moves the motor steps_to_move steps.  If the number is negative, 
   the motor moves in the reverse direction.
 */
void StepperMulti::setStep(int steps_to_move)
{  
  this->steps_left = abs(steps_to_move);  // how many steps to take
  
  // determine direction based on whether steps_to_mode is + or -:
  if (steps_to_move > 0) {this->direction = 1;}
  if (steps_to_move < 0) {this->direction = 0;}
  
  //스탭을 진행 한다.
  moveStep();
}

void StepperMulti::moveStep()
{
	//남은 스텝이 있는지?
	if(this->steps_left > 0)
	{
		// move only if the appropriate delay has passed:
		if (millis() - this->last_step_time >= this->step_delay) 
		{
			// get the timeStamp of when you stepped:
			this->last_step_time = millis();
			// increment or decrement the step number,
			// depending on direction:
			if (this->direction == 1) 
			{
				this->step_number++;
				if (this->step_number == this->number_of_steps) 
				{
					this->step_number = 0;
				}
			} 
			else 
			{ 
				if (this->step_number == 0) 
				{
					this->step_number = this->number_of_steps;
				}
				this->step_number--;
			}
			// decrement the steps left:
			this->steps_left--;
			// step the motor to step number 0, 1, 2, or 3:
			stepMotor(this->step_number % 4);
		}
	}
}


/*
 * Moves the motor forward or backwards.
 */
void StepperMulti::stepMotor(int thisStep)
{
  if (this->pin_count == 2) {
    switch (thisStep) {
      case 0: /* 01 */
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, HIGH);
      break;
      case 1: /* 11 */
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, HIGH);
      break;
      case 2: /* 10 */
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, LOW);
      break;
      case 3: /* 00 */
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, LOW);
      break;
    } 
  }
  if (this->pin_count == 4) {
    switch (thisStep) {
      case 0:    // 1010
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, LOW);
      digitalWrite(motor_pin_3, HIGH);
      digitalWrite(motor_pin_4, LOW);
      break;
      case 1:    // 0110
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, HIGH);
      digitalWrite(motor_pin_3, HIGH);
      digitalWrite(motor_pin_4, LOW);
      break;
      case 2:    //0101
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, HIGH);
      digitalWrite(motor_pin_3, LOW);
      digitalWrite(motor_pin_4, HIGH);
      break;
      case 3:    //1001
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, LOW);
      digitalWrite(motor_pin_3, LOW);
      digitalWrite(motor_pin_4, HIGH);
      break;
    } 
  }
}

#include <StepperMulti.h>

StepperMulti stepper(200, 8, 9, 10, 11);
StepperMulti stepper2(200, 4, 5, 6, 7);
 
 
void setup()
{
  Serial.begin(9600);
  stepper.setSpeed(30);
  stepper2.setSpeed(60);
}
 
void loop()
{
  if (Serial.available())
  {
    Serial.read();
    stepper.setStep(200);
    stepper2.setStep(200);
  }
  
  stepper.moveStep();
  stepper2.moveStep();
}