test2

#include <math.h>

#define Y_STEP_PIN         60
#define Y_DIR_PIN          61
#define Y_ENABLE_PIN       56
#define Y_MIN_PIN          14
#define Y_MAX_PIN          15

static const uint8_t MOTOR_STEP_PREDELIMITER = 16;
static const float MOTOR_DEGREE_PER_STEP = 1.8f;
static const uint8_t DRIVER_PIN_DELAY = 250;

void setup() {
    pinMode(Y_DIR_PIN, OUTPUT);
    digitalWrite(Y_DIR_PIN, HIGH);

    pinMode(Y_ENABLE_PIN, OUTPUT);
    digitalWrite(Y_ENABLE_PIN, LOW);

    pinMode(Y_STEP_PIN, OUTPUT);
    pinMode(Y_MIN_PIN, INPUT_PULLUP);
    pinMode(Y_MAX_PIN, INPUT_PULLUP);

    Serial.begin(115200);
}

void motor_step()
{
    digitalWrite(Y_STEP_PIN, HIGH);
    delayMicroseconds(DRIVER_PIN_DELAY);
    digitalWrite(Y_STEP_PIN, LOW);
    delayMicroseconds(DRIVER_PIN_DELAY);
}

void rotate_on_click()
{
    static size_t step_counter = 0;
    if (digitalRead(Y_MIN_PIN) || digitalRead(Y_MAX_PIN)) {
        motor_step();
        step_counter++;

        if ((step_counter % 5) == 0) {
            Serial.print(step_counter);
            Serial.print("\n");
        }
    }
}

size_t degree2steps(size_t degree)
{
    return round((float)(MOTOR_STEP_PREDELIMITER * degree) / MOTOR_DEGREE_PER_STEP);
}

void rotate_N_degree_on_click(size_t target_angle)
{
    if (digitalRead(Y_MIN_PIN) || digitalRead(Y_MAX_PIN)) {
        const size_t steps = degree2steps(target_angle);
        for (size_t step_counter = 0; step_counter < steps; step_counter++) {
            motor_step();
        }
    }
}

void loop ()
{
    rotate_on_click();
}