// Testing the "StepperDriver" library.
// Library: https://github.com/laurb9/StepperDriver
// It works okay.
// The .move and .rotate are relative.

#include <A4988.h>

#define stepPin 6
#define dirPin 7
const int stepsPerRev = 200;
const int rpm = 50;
const int microsteps = 1;

A4988 myStepper(stepsPerRev, dirPin, stepPin);

long position = 0L;

void setup() 
{
  Serial.begin(115200);
  myStepper.begin(rpm, microsteps);

  Serial.println("Testing the \"StepperDriver\" library");
  Serial.println("200 steps forward");
  myStepper.move(200);
  delay(2000);
  Serial.println("400 steps reverse");
  myStepper.move(-400);
  delay(2000);
  Serial.println("200 steps forward");
  myStepper.move(200);
  delay(2000);
  Serial.println("Additional angle 180");
  myStepper.rotate(180);
  delay(2000);
  Serial.println("Additional angle 360");
  myStepper.rotate(360);
  delay(2000);
  Serial.println("Additional angle 0");
  myStepper.rotate(0);
  delay(2000);
  Serial.println("Back to zero position (-300)");
  myStepper.move(-300);
  delay(2000);
  Serial.println("Use the potentiometer...");
}

void loop() 
{
  int value = analogRead(A0);
  long newPosition = (long) value * 200L / 1023L;
  long delta = newPosition - position;
  myStepper.move(delta);
  position = newPosition;
  delay(100);
}