#include <SPI.h>
#include <SD.h>
#include <AccelStepper.h>
int STP = 4;
int DIR = 3;
const int chipSelect = 53;
double Acceleration = 0;
double Previous_Acceleration = 0;
double Velocity = 0;
double Previous_Velocity = 0;
double Distance = 0;
double Previous_Distance;
AccelStepper stepper(AccelStepper::DRIVER,STP,DIR);
void setup(){
  pinMode(STP,OUTPUT);
  pinMode(DIR,OUTPUT);
  Serial.begin(38400);
  Serial.println("Starting Program");
  delay(1000);
  while (!Serial){
    ;
  }
  Serial.println("Initializing SD Card...");
  if (!SD.begin(chipSelect)){
    Serial.println("SD Card Error");
    while(1);
  }
  Serial.println("Card Initialized");

  File dataFile = SD.open("sinx.txt");

  if (dataFile){
    while (dataFile.available()){
      Acceleration = dataFile.parseFloat();
      Velocity = ((Previous_Acceleration + Acceleration)/2) + Previous_Velocity;
      Distance = ((Previous_Velocity + Velocity)/2) + Previous_Distance;
      stepper.setSpeed(Velocity);
      stepper.setAcceleration(Acceleration);
      stepper.runToNewPosition(Distance - Previous_Distance);

    }
  }
  else{
    Serial.println("Error");
  }
}

void loop(){

}