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/* FILE:    HCARDU0103_Dual_A3967_Stepper_Motor_Shield_Example
   DATE:    06/06/18
   VERSION: 0.1
   AUTHOR:  Andrew Davies


This example sketch uses the HCMotor library to individually control two stepper
motors connected to the motor X & Y output terminals of the shield.

The HCMOTOR library can be downloaded from the software section of our support forum 
here: http://forum.hobbycomponents.com/viewtopic.php?f=58&t=1870

The HCARDU0103 dual A3967 stepper motor shield can be purchased from our website here:
[LINK TBA]
 

You may copy, alter and reuse this code in any way you like, but please leave
reference to HobbyComponents.com in your comments if you redistribute this code.
This software may not be used directly for the purpose of selling products that
directly compete with Hobby Components Ltd's own range of products.

THIS SOFTWARE IS PROVIDED "AS IS". HOBBY COMPONENTS MAKES NO WARRANTIES, WHETHER
EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, ACCURACY OR LACK OF NEGLIGENCE.
HOBBY COMPONENTS SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR ANY DAMAGES,
INCLUDING, BUT NOT LIMITED TO, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR ANY
REASON WHATSOEVER.
*/


/* Include the library */
#include "HCMotor.h"

#define STEPPER_X 0
#define STEPPER_Y 1


/* Digital pins used to drive the motors */
#define XDIR_PIN  3
#define XSTEP_PIN 2
#define YDIR_PIN  7 
#define YSTEP_PIN 6 


/* Create an instance of the library */
HCMotor HCMotor;


void setup() 
{
  /* Initialise the library */
  HCMotor.Init();

  /* Tell the library which pins control which motor and type of driver */
  HCMotor.attach(STEPPER_X, STEPPER, XSTEP_PIN, XDIR_PIN);
  HCMotor.attach(STEPPER_Y, STEPPER, YSTEP_PIN, YDIR_PIN);

  /* Set the step mode to continuous output */
  HCMotor.Steps(STEPPER_X, CONTINUOUS);
  HCMotor.Steps(STEPPER_Y, CONTINUOUS);
}


void loop() 
{
  /* Set the direction of each motor */
  HCMotor.Direction(STEPPER_X, FORWARD);
  HCMotor.Direction(STEPPER_Y, REVERSE);

  /* Slowly ramp up the speed of the motors. Note that CLK_DUTY is set in 100ms increments */
  for(unsigned int CLK_DUTY = 50; CLK_DUTY >= 5; CLK_DUTY--)
  {
    HCMotor.DutyCycle(STEPPER_X, CLK_DUTY);
    HCMotor.DutyCycle(STEPPER_Y, CLK_DUTY);
    delay(20);
  }

  delay(2000);

  /* Slowly ramp down the speed of the motors. Note that CLK_DUTY is set in 100ms increments */
  for(unsigned int CLK_DUTY = 5; CLK_DUTY <= 50; CLK_DUTY++)
  {
    HCMotor.DutyCycle(STEPPER_X, CLK_DUTY);
    HCMotor.DutyCycle(STEPPER_Y, CLK_DUTY);
    delay(20);
  }

  
  /* Switch the direction of the motors */
  HCMotor.Direction(STEPPER_X, REVERSE);
  HCMotor.Direction(STEPPER_Y, FORWARD);

  /* Slowly ramp up the speed of the motors. Note that CLK_DUTY is set in 100ms increments */
  for(unsigned int CLK_DUTY = 50; CLK_DUTY >= 5; CLK_DUTY--)
  {
    HCMotor.DutyCycle(STEPPER_X, CLK_DUTY);
    HCMotor.DutyCycle(STEPPER_Y, CLK_DUTY);
    delay(20);
  }

  delay(2000);

  /* Slowly ramp down the speed of the motors. Note that CLK_DUTY is set in 100ms increments */
  for(unsigned int CLK_DUTY = 5; CLK_DUTY <= 50; CLK_DUTY++)
  {
    HCMotor.DutyCycle(STEPPER_X, CLK_DUTY);
    HCMotor.DutyCycle(STEPPER_Y, CLK_DUTY);
    delay(20);
  }
}