// Include the AccelStepper library:
#include <AccelStepper.h>

//Define Buttons
int homeStepperMotorsPin=A1;

//Define Stepper Motor Step and Direction Pins
#define stepPinLeftStepper 2 //Set stepPinLeftStepper equal to 2
#define dirPinLeftStepper 3 //Set dirPinLeftStepper equal to 3
#define stepPinRightStepper 4 //Set stepPinRightStepper equal to 4
#define dirPinRightStepper 5 //Set dirPinRightStepper equal to 5
#define motorInterfaceType 1 //Set motorInterfaceType equal to 1 (This should always be 1 when using a driver)

//Define Limit Switch Pins
#define leftStepperHomingSwitch 6 //Set leftStepperHomingSwitch equal to 6
#define rightStepperHomingSwitch 7 //Set rightStepperHomingSwitch to 7

//AccelStepper Setup
AccelStepper leftStepper = AccelStepper(motorInterfaceType, stepPinLeftStepper, dirPinLeftStepper); //1 = DRV8825 Driver Interface 
                                                                                                    //Arduino Pin 2 connected to STEP pin of DRV8825
                                                                                                    //Arduino Pin 3 connected to DIR pin of DRV8825
                                                                                                    
AccelStepper rightStepper = AccelStepper(motorInterfaceType, stepPinRightStepper, dirPinRightStepper); //1 = DRV8825 Driver Interface 
                                                                                                          //Arduino Pin 4 connected to STEP pin of DRV8825
                                                                                                          //Arduino Pin 5 connected to DIR pin of DRV8825

//int TravelX;
long initialHomingLeftStepper = 1; //Set Left Stepper to Move Counter-Clockwise (CCW) once it starts rotating
long initialHomingRightStepper = 1; //Set Right Stepper to Move Clockwise (CW) once it starts rotating


void setup() {
Serial.begin(9600); //Start the serial monitor with a speed of 9600 bauds
delay(5); //wait for DRV8825 to wake up

//Set Buttons as Input
pinMode(homeStepperMotorsPin, INPUT);

//Set Buttons to HIGH
digitalWrite(homeStepperMotorsPin, HIGH);
  
}

void loop() {


//Home Stepper Motors (Button A1 - Touch Button)
if(digitalRead(homeStepperMotorsPin)==LOW){
  

//--------------------------------------------------------------------------------  START - Homing Steppers - DO NOT EDIT  --------------------------------------------------------------------\\
 
  //-------------------------------------- Left Stepper --------------------------------------\\
  //Set Switches as INPUTS
  pinMode(leftStepperHomingSwitch, INPUT_PULLUP); //Set left stepper homing switch as an input
  

  //Set Max Speed and Acceleration of Steppers at Startup for Homing Until Limit Switch is Activated
  leftStepper.setMaxSpeed(3800); //Set Max Speed of Left Stepper (Slower to get better accuracy) - Do not set too high to prevent clamp from crashing into limit switch
  leftStepper.setAcceleration(100); //Set Max Acceleration of Left Stepper
  

  //Start Homing Procedure of Left Stepper Motor
  Serial.println("Left Stepper is Homing");
  while(digitalRead(leftStepperHomingSwitch)) { //Set Left Stepper to do code in following while loop until the left limit switch is activated 
    leftStepper.moveTo(-initialHomingLeftStepper); //Stepper will move right
    leftStepper.run(); //Starts Moving the Left Stepper
    initialHomingLeftStepper--; //Keeps Left Stepper Rotating
    delay(5); //Slows Down While Loop so Arduino does not have to process so much data 
  }

  //Left Limt Switch is Now Activated - slow down left stepper and move in other direction until switch is no longer activated
  leftStepper.setCurrentPosition(0); //Reset position to 0 so when Left Stepper continues moving, it rotates in Clockwise (CW) direction and does not continue in CCW direction
  leftStepper.setMaxSpeed(100); //Set Max Speed of Left Stepper - Keep this at 100 or less for maximum accuracy 
  leftStepper.setAcceleration(100); //Set Max Acceleration of Left Stepper
  initialHomingLeftStepper=1; //Set Left Stepper to Move left once it starts rotating

  while(!digitalRead(leftStepperHomingSwitch)) { //Set Left Stepper to do code in following while loop until the left limit switch is deactivated 
    leftStepper.moveTo(-initialHomingLeftStepper); //Stepper will move left
    leftStepper.run(); //Starts Moving the Left Stepper
    initialHomingLeftStepper++; //Keeps Left Stepper Rotating
    delay(5); //Slows Down While Loop so Arduino does not have to process so much data 
  }

  leftStepper.setCurrentPosition(0); //The Left Stepper is now set to an initial position of 0 and is ready for the rest of the program to run
  Serial.println("Left Stepper - Homing Complete"); //Print "Left Stepper - Homing Complete"


  //-------------------------------------- Right Stepper --------------------------------------\\

   //Set Switches as INPUTS
  pinMode(rightStepperHomingSwitch, INPUT_PULLUP); //Set right stepper homing switch as an input
  

  //Set Max Speed and Acceleration of Steppers at Startup for Homing Until Limit Switch is Activated
  rightStepper.setMaxSpeed(3800); //Set Max Speed of Right Stepper (Slower to get better accuracy) - Do not set too high to prevent clamp from crashing into limit switch
  rightStepper.setAcceleration(100); //Set Max Acceleration of Right Stepper
  
  //Start Homing Procedure of Right Stepper Motor
  Serial.println("Right Stepper is Homing");
  while(digitalRead(rightStepperHomingSwitch)) { //Set Right Stepper to do code in following while loop until the left limit switch is activated 
    rightStepper.moveTo(-initialHomingRightStepper); //Stepper will move left
    rightStepper.run(); //Starts Moving the Right Stepper
    initialHomingRightStepper--; //Keeps Right Stepper Rotating
    delay(5); //Slows Down While Loop so Arduino does not have to process so much data 
  }

  //Right Limt Switch is Now Activated - slow down right stepper and move in other direction until switch is no longer activated
  rightStepper.setCurrentPosition(0); //Reset position to 0 so when Right Stepper continues moving, it rotates in Clockwise (CW) direction and does not continue in CCW direction
  rightStepper.setMaxSpeed(100); //Set Max Speed of Right Stepper - Keep this at 100 or less for maximum accuracy 
  rightStepper.setAcceleration(100); //Set Max Acceleration of Right Stepper
  initialHomingRightStepper=1; //Set Right Stepper to Move right once it starts rotating

  while(!digitalRead(rightStepperHomingSwitch)) { //Set Right Stepper to do code in following while loop until the left limit switch is deactivated 
    rightStepper.moveTo(-initialHomingRightStepper); //Stepper will move right
    rightStepper.run(); //Starts Moving the Right Stepper
    initialHomingRightStepper++; //Keeps Right Stepper Rotating
    delay(5); //Slows Down While Loop so Arduino does not have to process so much data 
  }

  rightStepper.setCurrentPosition(0); //The Right Stepper is now set to an initial position of 0 and is ready for the rest of the program to run
  Serial.println("Right Stepper - Homing Complete"); //Print "Right Stepper - Homing Complete"

//--------------------------------------------------------------------------------  END - Homing Steppers - DO NOT EDIT  --------------------------------------------------------------------\\
  
  
}

}