#include <Arduino.h>
#include "DRV8825.h"

#define MOTOR_STEPS 400
#define RPM_X 240
#define RPM_Y 240
#define DIR_Y 7
#define STEP_Y 4
#define DIR_X 5
#define STEP_X 2
#define ENABLE 8 
#define MOTOR_ACCEL 2000
#define MOTOR_DECEL 2000
#define MODE0 11
#define MODE01 9
#define MODE1 12
#define MODE2 13

DRV8825 stepperX(MOTOR_STEPS, DIR_X, STEP_X, ENABLE, MODE01, MODE1, MODE2);
DRV8825 stepperY(MOTOR_STEPS, DIR_Y, STEP_Y, ENABLE, MODE0, MODE1, MODE2);
char s=0;
float x;
float y;
String X;
String Y;

void setup() {
    Serial.begin(9600);
    Serial.println("Ready"); 
    stepperX.begin(RPM_X, 1);
    stepperX.enable();
    stepperY.begin(RPM_Y, 1);
    stepperY.enable();
    stepperX.setSpeedProfile(stepperX.LINEAR_SPEED, MOTOR_ACCEL, MOTOR_DECEL);
    stepperY.setSpeedProfile(stepperY.LINEAR_SPEED, MOTOR_ACCEL, MOTOR_DECEL);
    stepperX.setMicrostep(1);  
    stepperY.setMicrostep(1);
}

void loop()
{
    if (s==0)
    {
      Serial.print("Enter X value: " );
      s++;
    } 
    if (Serial.available()>0 && s == 1)
    {
    X = Serial.readString();
    x = X.toFloat();
    Serial.println(x);
    s++;
    }
   if (s==2)
   {
      Serial.print("Enter Y value: ");
      s++;  
   }
    if (Serial.available()>0 && s == 3)
    {
    Y = Serial.readString();
    y = Y.toFloat();
    Serial.println(y);
    s++;
    }
    if (s==4)
    {
    //stepperX.rotate(x);
    stepperX.move((double)x);
    delay(10);
   // stepperY.rotate(y);
    stepperY.move((double)y);
    delay(10);
    s=0;
    x = 0;
    y = 0;
    X = "";
    Y = "";
    }
}