#include <Arduino.h>

#define X_STEP_PIN 54
#define X_DIR_PIN 55
#define X_ENABLE_PIN 38

#define Y_STEP_PIN 60
#define Y_DIR_PIN 61
#define Y_ENABLE_PIN 56

#define Z_STEP_PIN 46
#define Z_DIR_PIN 48
#define Z_ENABLE_PIN 62

#define X_STEPPER_CLK 16
#define X_STEPPER_DT 17

#define Y_STEPPER_CLK 23
#define Y_STEPPER_DT 25

#define Z_STEPPER_CLK 27
#define Z_STEPPER_DT 29

int X_STEP_COUNT;
int Y_STEP_COUNT;
int Z_STEP_COUNT;

int X_ANGLE;
int Y_ANGLE;
int Z_ANGLE;

int X_STATE;
int Y_STATE;
int Z_STATE;

int X_LAST_STATE;
int Y_LAST_STATE;
int Z_LAST_STATE;

void setup()
{
  pinMode(X_STEP_PIN, OUTPUT);
  pinMode(X_DIR_PIN, OUTPUT);
  pinMode(X_ENABLE_PIN, OUTPUT);

  pinMode(Y_STEP_PIN, OUTPUT);
  pinMode(Y_DIR_PIN, OUTPUT);
  pinMode(Y_ENABLE_PIN, OUTPUT);

  pinMode(Z_STEP_PIN, OUTPUT);
  pinMode(Z_DIR_PIN, OUTPUT);
  pinMode(Z_ENABLE_PIN, OUTPUT);

  digitalWrite(X_ENABLE_PIN, LOW);
  digitalWrite(Y_ENABLE_PIN, LOW);
  digitalWrite(Z_ENABLE_PIN, LOW);

  pinMode(X_STEPPER_DT, INPUT);
  pinMode(X_STEPPER_CLK, INPUT);

  pinMode(Y_STEPPER_DT, INPUT);
  pinMode(Y_STEPPER_CLK, INPUT);

  pinMode(Z_STEPPER_DT, INPUT);
  pinMode(Z_STEPPER_CLK, INPUT);

  X_LAST_STATE = digitalRead(X_STEPPER_CLK);
  Y_LAST_STATE = digitalRead(Y_STEPPER_CLK);
  Z_LAST_STATE = digitalRead(Z_STEPPER_CLK);
}

void loop()
{
  X_STATE = digitalRead(X_STEPPER_CLK);
  Y_STATE = digitalRead(Y_STEPPER_CLK);
  Z_STATE = digitalRead(Z_STEPPER_CLK);

  if(X_STATE != X_LAST_STATE) {
    if(digitalRead(X_STEPPER_DT) != X_STATE) {
      X_STEP_COUNT++;
      X_ANGLE++;
      digitalWrite(X_DIR_PIN, LOW);
      digitalWrite(X_STEP_PIN, HIGH);
      delayMicroseconds(2000);
      digitalWrite(X_STEP_PIN, LOW);
      delayMicroseconds(2000);
    } else {
      X_STEP_COUNT--;
      X_ANGLE--;
      digitalWrite(X_DIR_PIN, HIGH);
      digitalWrite(X_STEP_PIN, HIGH);
      delayMicroseconds(2000);
      digitalWrite(X_STEP_PIN, LOW);
      delayMicroseconds(2000);
    }
  }

  if(Y_STATE != Y_LAST_STATE) {
    if(digitalRead(Y_STEPPER_DT) != Y_STATE) {
      Y_STEP_COUNT++;
      Y_ANGLE++;
      digitalWrite(Y_DIR_PIN, LOW);
      digitalWrite(Y_STEP_PIN, HIGH);
      delayMicroseconds(2000);
      digitalWrite(Y_STEP_PIN, LOW);
      delayMicroseconds(2000);
    } else {
      Y_STEP_COUNT--;
      Y_ANGLE--;
      digitalWrite(Y_DIR_PIN, HIGH);
      digitalWrite(Y_STEP_PIN, HIGH);
      delayMicroseconds(2000);
      digitalWrite(Y_STEP_PIN, LOW);
      delayMicroseconds(2000);
    }
  }

  if(Z_STATE != Z_LAST_STATE) {
    if(digitalRead(Z_STEPPER_DT) != Z_STATE) {
      Z_STEP_COUNT++;
      Z_ANGLE++;
      digitalWrite(Z_DIR_PIN, LOW);
      digitalWrite(Z_STEP_PIN, HIGH);
      delayMicroseconds(2000);
      digitalWrite(Z_STEP_PIN, LOW);
      delayMicroseconds(2000);
    } else {
      Z_STEP_COUNT--;
      Z_ANGLE--;
      digitalWrite(Z_DIR_PIN, HIGH);
      digitalWrite(Z_STEP_PIN, HIGH);
      delayMicroseconds(2000);
      digitalWrite(Z_STEP_PIN, LOW);
      delayMicroseconds(2000);
    }
  }
  X_LAST_STATE = X_STATE;
  Y_LAST_STATE = Y_STATE;
  Z_LAST_STATE = Z_STATE;

  delay(4);
}