berdel na kiełkach

#include <AccelStepper.h>
#include <SoftwareSerial.h>
#include <EEPROM.h>

long number1, number2, address=0;
/*
aktualne komendy bt
http://www.airspayce.com/mikem/arduino/AccelStepper/classAccelStepper.html
doly|move0       #ustaw w pozycji 0
doly|startslow   #ruszaj powoli do  stop / end
doly|stop        #zatrzumaj
move|[-50 ~ 50]  #przesuń wózek o x stopni
doly|setEnd      #ustaw pozycje konca trasy
doly|set0        #ustaw pozycje początku trasy
set|
start|
data|"
*/
boolean n, debug, allow_move;
String BluetoothData, val1, val2, ser;
int pad_x, znak, speed_, current_pos, end_track, mov;
SoftwareSerial mySerial(10, 11); // RX, TX
int steps_per_rev = 4095;
String what ;
/*-----( Declare Constants and Pin Numbers )-----*/
#define FULLSTEP 4
#define HALFSTEP 8
#define HALFSTEP2 16
// motor pins
#define motorPin1  4     // Blue   - 28BYJ48 pin 1
#define motorPin2  5     // Pink   - 28BYJ48 pin 2
#define motorPin3  6     // Yellow - 28BYJ48 pin 3
#define motorPin4  7     // Orange - 28BYJ48 pin 4

/*-----( Declare objects )-----*/
// NOTE: The sequence 1-3-2-4 is required for proper sequencing of 28BYJ48
AccelStepper stepper1(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);



// #define IN1  4
// #define IN2  5
// #define IN3  6
// #define IN4  7
int Steps = 7;
int currPos = 0;
long time;


void setup() {
  Serial.begin(9600);
  n = false;
  debug = !true;
  allow_move = true;

  stepper1.setMaxSpeed(1000.0);
  stepper1.setAcceleration(300.0);
  stepper1.setSpeed(700);
  //stepper1.moveTo(-2048*4);  // 1 revolution
  //#####################TESTOWO
  current_pos = 0;
  end_track = EEPROMReadlong(0);

  Serial.println("goodnight moon!");

  mySerial.begin(9600);
 // mySerial.println("Hello, world?");
  mySerial.setTimeout(200);
}

void loop() {




  if (Serial.available() > 0) {
    Serial.println( BluetoothData);
    Serial.println( val1);
    Serial.println( end_track);
    Serial.println(stepper1.currentPosition());
  }

  BluetoothData = mySerial.readStringUntil(';');
  //int commaIndex = BluetoothData.indexOf(',');Serial.flush()
  if (BluetoothData != "") {
    String val1 = getValue(BluetoothData, '|', 0);
    String val2 = getValue(BluetoothData, '|', 1);
mySerial.flush();
    if (debug) {
      Serial.println( BluetoothData);
      Serial.println( val1);
      Serial.println( end_track);
      Serial.println(stepper1.currentPosition());
    }










    if (val1 == "doly") {

      if (val2 == "move0") {
        stepper1.setAcceleration(300.0);
        stepper1.setSpeed(1000);
        if (stepper1.distanceToGo() == 0)
        stepper1.moveTo(0);
        //Serial.println(stepper1.currentPosition());
       // while (stepper1.currentPosition()>-1) {
       // Serial.println(stepper1.currentPosition());
       while(stepper1.run()){}
      //}

      stepper1.disableOutputs();
      Serial.println(" jestem na początku trasy");
    }


    if (val2 == "startslow") {


    stepper1.setAcceleration(300.0);
    stepper1.setSpeed(20);
    stepper1.moveTo(end_track);
    allow_move = true;
    while (allow_move) {
      if(stepper1.currentPosition() == end_track){      stepper1.disableOutputs();stepper1.stop();break;}
     check_stop();
     stepper1.run();
      }
         Serial.println(" jestem na koncu trasy");


      } /// end startslow



      if (val2 == "setEnd") {
        end_track = stepper1.currentPosition();
        EEPROMWritelong(address,stepper1.currentPosition());
        Serial.println(stepper1.currentPosition());
      }
      if (val2 == "stop")  {
        allow_move = !allow_move;
      }
      if (val2 == "set0")  {
        current_pos = 0;
        stepper1.setCurrentPosition(0);
        Serial.println(stepper1.currentPosition());

      }

    } // End val1 = dolly

    if (val1 == "move") {
      if (val2.toInt() < 0) {
        stepper1.move(-100);
        //stepper1.distanceToGo() != 0
        mov = stepper1.currentPosition() +100;
        stepper1.setPinsInverted(true,true,true);

         // Serial.println(stepper1.currentPosition());
         while (stepper1.currentPosition() != mov) {
         // Serial.println(stepper1.currentPosition());
         stepper1.setSpeed(1000);
         stepper1.runSpeed();
       }
       stepper1.setPinsInverted(false,false,false);
       pad_x = stepper1.currentPosition() - (2* 100);
       stepper1.setCurrentPosition(pad_x);
       stepper1.disableOutputs();

      }//End -pos

      if (val2.toInt() > 0) {

        stepper1.move(100);
        mov = stepper1.currentPosition() +100;
        while (stepper1.currentPosition() != mov) {
          stepper1.setSpeed(1000);
          stepper1.runSpeed();
        }
        stepper1.setCurrentPosition(stepper1.currentPosition());
        stepper1.disableOutputs();


      }//End +pos

    }  //end of move







//Val1 start

if (val1 == "start") {

  if (val2 == "somevalue2")  {      }

  if (val2 == "set0")  {
    stepper1.setAcceleration(300.0);
    stepper1.setSpeed(200);
    stepper1.moveTo(0);
    allow_move = true;
    while (allow_move) {
      if(stepper1.currentPosition() == 0){      stepper1.disableOutputs();stepper1.stop();break;}
     check_stop();
     stepper1.moveTo(0);
     stepper1.run();
      }

 } //end set0


 if (val2 == "test_ride")  {
      //## test accel



      stepper1.setAcceleration(100.0);
      stepper1.setSpeed(20);
      stepper1.moveTo(end_track);
      allow_move = true;
      while (allow_move) {
        if (stepper1.currentPosition() == 0){
          stepper1.moveTo(end_track);}else if(stepper1.currentPosition() == end_track){
            stepper1.moveTo(0);}
            check_stop();

            stepper1.run();
          }

 }

    } // End val1 = start



    if (val1 == "data") {

      if (val2 == "whoareyou")  { mySerial.write("slider:adam01;");     }
      if (val2 == "showsettings")  { mySerial.write("");     }


    } // End val1 = start



  } // end of bluetooth data not empty


stepper1.disableOutputs();
  BluetoothData = "";
  val1 = "";
  val2 = "";
} // endo of loop






void check_stop()
{

  if (mySerial.available() > 0) {
    what = mySerial.readStringUntil(';');
    if(what == "doly|stop"){
       allow_move = false;
      stepper1.stop();
//delay(500);
stepper1.disableOutputs();
      //break;
//Serial.println(what);
    }

  }
  // BluetoothData = mySerial.readStringUntil(';');
  // if (BluetoothData == "doly|stop") {
  //   allow_move = !allow_move;
  //   return  1 ;

  // } else {
  //   allow_move = !allow_move;
  //   return  0 ;
  // }

}

String getValue(String data, char separator, int index)
{
  int found = 0;
  int strIndex[] = {
    0, -1
  };
  int maxIndex = data.length() - 1;
  for (int i = 0; i <= maxIndex && found <= index; i++) {
    if (data.charAt(i) == separator || i == maxIndex) {
      found++;
      strIndex[0] = strIndex[1] + 1;
      strIndex[1] = (i == maxIndex) ? i + 1 : i;
    }
  }
  return found > index ? data.substring(strIndex[0], strIndex[1]) : "";
}

void EEPROMWritelong(int address, long value)
{
      //Decomposition from a long to 4 bytes by using bitshift.
      //One = Most significant -> Four = Least significant byte
      byte four = (value & 0xFF);
      byte three = ((value >> 8) & 0xFF);
      byte two = ((value >> 16) & 0xFF);
      byte one = ((value >> 24) & 0xFF);

      //Write the 4 bytes into the eeprom memory.
      EEPROM.write(address, four);
      EEPROM.write(address + 1, three);
      EEPROM.write(address + 2, two);
      EEPROM.write(address + 3, one);
    }

//This function will return a 4 byte (32bit) long from the eeprom
//at the specified address to address + 3.
long EEPROMReadlong(long address)
{
      //Read the 4 bytes from the eeprom memory.
      long four = EEPROM.read(address);
      long three = EEPROM.read(address + 1);
      long two = EEPROM.read(address + 2);
      long one = EEPROM.read(address + 3);

      //Return the recomposed long by using bitshift.
      return ((four << 0) & 0xFF) + ((three << 8) & 0xFFFF) + ((two << 16) & 0xFFFFFF) + ((one << 24) & 0xFFFFFFFF);
    }