#include <Servo.h>

#define DIR_PIN 2
#define STEP_PIN 3

const int button = 48; // un bouton sur la broche 48
const int led = 46;

Servo monServomoteur;
float degTot=0;

void setup() {
  monServomoteur.attach(8);
  pinMode(button, INPUT_PULLUP);
  pinMode(led, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(STEP_PIN, OUTPUT);

  digitalWrite(led, HIGH);
  while(digitalRead(button) == LOW){
    rotateDeg(-1, .2);
    delay(50);
  }
  degTot = 0;
}

void rotate(int steps, float speed){
  int dir = (steps > 0)? HIGH:LOW;
  steps = abs(steps);

  digitalWrite(DIR_PIN,dir);

  float usDelay = (1/speed) * 70;

  for(int i=0; i < steps; i++){
    degTot++;
    if(degTot == 3200){
      degTot = 0;
      delay(500);
    }
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(usDelay);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(usDelay);
  }
}


void rotateDeg(float deg, float speed){

  int dir = (deg > 0)? HIGH:LOW;
  digitalWrite(DIR_PIN,dir);

  int steps = abs(deg)*(2/0.225);
  float usDelay = (1/speed) * 70;
  for(int i=0; i < steps; i++){
    degTot++;
    if(degTot == 3200){
      degTot = 0;
      rotate(-3200, speed);
      digitalWrite(DIR_PIN,dir);
      delay(500);
    }
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(usDelay);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(usDelay);
  }
}


int position;
void rotateServo(float angleBase, float angleFin){
  if(angleBase <= angleFin){
    for (position = angleBase; position <= angleFin; position++){
      monServomoteur.write(position);
    }
  }
  if(angleBase > angleFin){
    for (position = angleBase; position <= angleFin; position--){
      monServomoteur.write(position);
    }
  }
}


void loop(){
  // Fait bouger le bras de 0° à 180°
  //rotateServo(0,180);
  //for(int position = 0; position < 180; position++){
  //    monServomoteur.write(position);
  //  }


  if(digitalRead(button) == HIGH) // test si le bouton a un niveau logique HAUT
    {
        digitalWrite(led, LOW); //le bouton est relâché, la LED est allumée
    }
  else  // test si le bouton a un niveau logique différent de HAUT (donc BAS)
    {
        digitalWrite(led, HIGH); //la LED reste éteinte
    }


  rotateDeg(40, .2);
  delay(500);
  rotateDeg(-30, .2);
  delay(500);
  degTot=0;
  //rotateDeg(400, .2);
  //delay(1000);
  //rotateDeg(-180, .2);
  //delay(1000);


}