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	- Project: LinearRailSlide
	- Source Code compiled for: Arduino Uno
	- Source Code created on: 2023-11-29 21:44:33
	- Source Code generated by: Francesco Alessandro

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/********* User code review feedback **********
#### Feedback 1 ####
- Let's consider length of 200mm and steps per revolution.
********* User code review feedback **********/

/****** DEFINITION OF LIBRARIES *****/
#include 
#include 

/****** SYSTEM REQUIREMENT 1 *****/
/* A stepper motor drives a 200 mm length linear rail */
/* slide. The motor performs 100 steps per */
/* revolution. Each revolution moves the slide 10mm. */
/* 
   Here, we assume that the stepper motor is properly configured 
   to achieve this requirement. Hence, no changes are required in the code.
*/

/****** SYSTEM REQUIREMENT 2 *****/
/* Perform a complete continuous travel from right to */
/* left in 12 hours. Then go back from left to right */
/* again in 12 hours. The movement shall be */
/* continuous in 12 hours. Do not use delay function. */
/* 
   In order to achieve this requirement, we need to modify 
   the loop function to continuously run the stepper motor 
   for 12 hours in one direction, then reverse the direction 
   and run for another 12 hours. We can use millis() function 
   to track the time and control the motor movement.
*/

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

/***** DEFINITION OF DIGITAL OUTPUT PINS *****/
const uint8_t stepper_A4988StepperMotorDriver_STEP_PIN_D8 = 8;
const uint8_t stepper_A4988StepperMotorDriver_DIR_PIN_D9 = 9;

/****** DEFINITION OF LIBRARIES CLASS INSTANCES *****/
AccelStepper stepper(AccelStepper::FULL4WIRE, stepper_A4988StepperMotorDriver_STEP_PIN_D8, stepper_A4988StepperMotorDriver_DIR_PIN_D9);

// Variables for tracking time and movement direction
unsigned long startTime;
bool forwardDirection = true;

void setup(void)
{
  // put your setup code here, to run once:
  
  // Set the step and direction pins as output
  pinMode(stepper_A4988StepperMotorDriver_STEP_PIN_D8, OUTPUT);
  pinMode(stepper_A4988StepperMotorDriver_DIR_PIN_D9, OUTPUT);

  // Set the maximum speed and initial speed of the stepper motor
  stepper.setMaxSpeed(1000);
  stepper.setSpeed(50);

  // Initialize start time
  startTime = millis();
}

void loop(void)
{
  // put your main code here, to run repeatedly:
  
  // Calculate the elapsed time
  unsigned long elapsedTime = millis() - startTime;

  // Perform movement for 12 hours in one direction
  if (forwardDirection && elapsedTime < 12 * 3600 * 1000)
  {
    // Run the stepper motor at the set speed
    stepper.runSpeed();
  }
  // Reverse the direction and reset the start time
  else if (forwardDirection)
  {
    forwardDirection = false;
    startTime = millis();
    stepper.setSpeed(-50); // Set negative speed for reverse movement
  }
  // Perform movement for another 12 hours in reverse direction
  else if (!forwardDirection && elapsedTime < 24 * 3600 * 1000)
  {
    // Run the stepper motor at the set speed
    stepper.runSpeed();
  }
  // Reset the direction and start time after 24 hours
  else
  {
    forwardDirection = true;
    startTime = millis();
    stepper.setSpeed(50); // Set positive speed for forward movement
  }
}