#include <debug.h>
#include <makros.h>
#include <RCReceive.h>
#include <StepperControl.h>
#include <CheapStepper.h>
#include <Stepper_28BYJ_48.h>
#include <Stepper.h>

// Change this to your PWMPIN ;)
#define PWM_READ_PIN 3

// Change these to your MOTOR Pins ;)
#define MOTOR_PIN1 22
#define MOTOR_PIN2 23
#define MOTOR_PIN3 24
#define MOTOR_PIN4 25

int SPU = 1024;
Stepper motor(SPU, MOTOR_PIN1, MOTOR_PIN2, MOTOR_PIN3, MOTOR_PIN4);

// setup() wird einmal zu Programmbeginn ausgeführt
void setup()
{
  // Setup PWM stuff
  pinMode(PWM_READ_PIN, INPUT);

  // Setup stepper
  motor.setSpeed(2);

  // Serielle Kommunikation starten
  Serial.begin(9600);
}

// loop() wird endlos wiederholt
void loop()
{
  // Read PWM stuff
  int v = pulseIn(PWM_READ_PIN, HIGH, 25000);

  // links:    850
  // neutral: 1460
  // rechts:  2015
  int neutral = 1460;
  int puffer = 100;
  int steps = 10;
  if ( v < ( neutral-puffer ) )
  {
     motor.step( steps );
  }
  if ( v > ( neutral+puffer ) )
  {
     motor.step( -steps );
  }

  // Kurze Pause, damit der Servo die neue Position anfahren kann
  delay(50);
}