#include <Stepper.h>

int switchPin = 12; // go home
int potPin = 0; // x
int potPin2 = 1; // y
int potPin3 = 2; // czułość
int czulosc = 70;
int stan0x = 0;
int stan0y = 0;
int x = 0;
int y = 0;
const int stepsPerRevolution = 200; // te dwie krowy robia 200 kroków na 360
int speed = 0;
// initialize the stepper library on pins 8 through 11:

Stepper myStepper(stepsPerRevolution, 8,9,10,11);
Stepper myStepper2(stepsPerRevolution, 2,3,4,5);
int stopnie = 2;
void setup() {

  pinMode(switchPin, INPUT_PULLUP);
  stan0x = analogRead(potPin);
  stan0y = analogRead(potPin2);
  //czulosc = analogRead(potPin3);

  //speed = map(speed, stan0x, 1040, 0, czulosc);
myStepper.setSpeed(10);
myStepper2.setSpeed(10);

// initialize the serial port:

Serial.begin(9600); }

void loop() {

   czulosc = analogRead(potPin3);
  // Serial.print(czulosc);
 //  Serial.print("analog          ");
   czulosc = map(czulosc, 0, 1040, 0, 200);
 //  Serial.print(czulosc);
  // Serial.println("map");

  int speed = analogRead(potPin) ;
  speed = map(speed, stan0x, 1040, 0, czulosc);
  int speed2 = analogRead(potPin2) ;
  speed2 = map(speed2, stan0y, 1040, 0, czulosc);




  if(speed >5 ) {
    myStepper.setSpeed(speed);
    myStepper.step(stopnie);
   x = x + stopnie;
    }

  if(speed<-5 ) {
    myStepper.setSpeed(speed*-1);
    myStepper.step(-stopnie);
    x = x-stopnie;
    }

  if(speed2 >5 ) {
    myStepper2.setSpeed(speed2);
    myStepper2.step(stopnie);
    y = y+stopnie;
    }

  if(speed2<-5 ) {
    myStepper2.setSpeed(speed2*-1);
    myStepper2.step(-stopnie);
    y = y-stopnie;
    }
    if(speed > -5 && speed < 5){
    stop_motor_a();}
    if(speed2 > -5 && speed2 < 5){
    stop_motor_b();}

    boolean blin = digitalRead(12);
    if(!blin){
      Serial.print(x);
      Serial.print("x         ");
      Serial.print(y);
      Serial.println("y       wracam");
        myStepper2.setSpeed(100);
        myStepper2.step(y*-1);
        myStepper.setSpeed(100);
        myStepper.step(x*-1);
        x = 0;
        y = 0;
    }
}

void stop_motor_a (){
      digitalWrite(2, HIGH);
      digitalWrite(3, HIGH);
      digitalWrite(4, HIGH);
      digitalWrite(5, HIGH);
}
void stop_motor_b (){
      digitalWrite(8, HIGH);
      digitalWrite(9, HIGH);
      digitalWrite(10, HIGH);
      digitalWrite(11, HIGH);
}

void debug(){
// step one revolution in one direction:
//    Serial.print(speed);
//    Serial.print ("speed               ");
//Serial.print(analogRead(potPin));
//Serial.print ("x");
//Serial.print(analogRead(potPin2));
//Serial.print ("y             ");
//Serial.print(analogRead(potPin3));
//Serial.print ("czulosc       ");
//Serial.println("");
}