Automation-Project-Legacy

int stopped = 1;

int start_button_pin = 7;
int stop_button_pin = 6;

int start_button_val = 0;
int stop_button_val = 0;


int stepper_pin = 8;
int stepper_count = 0;
int stepper_ticks = 0;
int stepper_ticks_full = 0;

int stepper_dir_pin = 9;

int stepper_ena_pin = 10;


int stop_switch_pin = 4;
int stop_switch_val = 0;

int pneumatic_switch_val = 0;
int pneumatic_switch_pin = 5;


int pneumatic_pin = 13;
int pneumatic_count = 0;


int flag = 0;

float pneumatic_seconds = 5;


float stepper_steps = 0.5;
int revolution_size = 200;
int stepper_ticks_max = revolution_size/stepper_steps;
int step_every = 2;


void checkValues() {
    start_button_val = digitalRead(start_button_pin);
    stop_button_val = digitalRead(stop_button_pin);
    pneumatic_switch_val = digitalRead(pneumatic_switch_pin);
    stop_switch_val = digitalRead(stop_switch_pin);
}
void setup() {
    pinMode(start_button_pin, INPUT);
    pinMode(stop_button_pin, INPUT);
    pinMode(pneumatic_switch_pin, INPUT);

    pinMode(pneumatic_pin, OUTPUT);
    pinMode(stepper_pin, OUTPUT);
    pinMode(stepper_dir_pin, OUTPUT);
    pinMode(stepper_ena_pin, OUTPUT);
    Serial.begin(9600);
}

void reset_vals() {
    flag = 0;
    pneumatic_count = 0;
    stepper_count = 0;
    stepper_ticks = 0;
    stepper_ticks_full = 0;
    digitalWrite(pneumatic_pin, LOW);
    digitalWrite(stepper_dir_pin, LOW);
}

void loop() {
    checkValues();



    // check before just in case start button is being held
    if (start_button_val == 0) {
        stopped = 0;

    }
    if (stop_button_val == 1) {
        stopped = 1;
    }
    if (stop_switch_val == 1 && flag != 4) {
        digitalWrite(pneumatic_pin, LOW);
        digitalWrite(stepper_dir_pin, HIGH);
        stepper_count = 0;
        flag = 4;
    }
    if (stopped) {
        //Serial.println("Stopped");
        reset_vals();
        digitalWrite(stepper_ena_pin, HIGH);
        return;
    } else {
        digitalWrite(stepper_ena_pin, LOW);
    }


    if (pneumatic_switch_val == 0) {
        Serial.println("Starting arm");
        digitalWrite(pneumatic_pin, HIGH);
        delay(pneumatic_seconds*1000);
        Serial.println("Stopping arm");
        digitalWrite(pneumatic_pin, LOW);
    }





    if (flag == 0 && pneumatic_switch_val == 0) {
        Serial.println("Starting Arm");
        pneumatic_count = 0;
        flag = 1;
    }
    if (flag == 1) {
        pneumatic_count += 1;
        if (pneumatic_count >= pneumatic_seconds*1000) {
            //Serial.println(pneumatic_count);
            Serial.println("Stopping Arm");
            digitalWrite(pneumatic_pin, LOW);
            flag = 2;
        } else {
            digitalWrite(pneumatic_pin, HIGH);
            if (pneumatic_count % 1000 == 0) {
                //Serial.println("Pneumatic count is ");
                //Serial.println(pneumatic_count);
            }
        }

    }
    if (flag == 2 && pneumatic_switch_val == 0) {
        stepper_count = 0;
        stepper_ticks = 0;
        flag = 3;
    }
    if (flag == 3) {
        if (stepper_count == 0 || stepper_count % step_every == 0) {
            digitalWrite(stepper_pin, HIGH);
            stepper_ticks++;
            stepper_ticks_full++;
        } else {
            digitalWrite(stepper_pin, LOW);
        }
        stepper_count++;
        if (stepper_ticks >= stepper_ticks_max) {
            flag = 0;
            Serial.println("Rev Done");
        }
    }
    if (flag == 4 && pneumatic_switch_val == 0) {
        if ((stepper_count == 0 || stepper_count % step_every == 0) && stepper_ticks_full > 0) {
            digitalWrite(stepper_pin, HIGH);
            stepper_ticks_full--;
            //Serial.println(stepper_ticks);
        } else if (stepper_ticks_full >= 0) {
            digitalWrite(stepper_pin, LOW);
        }
        stepper_count++;
        if (stepper_ticks_full <= 0) {
            stopped = 1;
            digitalWrite(stepper_dir_pin, LOW);
            Serial.println("Reversed stepper motor to start position");
        }

    }
}