// Include the Arduino Stepper Library
//sysiphean robot. .. I think Im making it too complex though. this is a scratch page
#include <Stepper.h>

// Number of steps per output rotation
const int stepsPerRevolution = 100;

// Create Instance of Stepper library
Stepper myStepper(stepsPerRevolution, 2,3,4,5);
/*
2,3,4,5 --yes
*/
int fw = 6;
int rv = 7;
int pot= A9;
int T = 0;  //run time corrosponds to theta but who cares

void Forward(int T);
void Reverse(int T);
void Stap();

void setup(){
  // set the speed at 60 rpm:
  myStepper.setSpeed(100);
 pinMode(6, OUTPUT);
 pinMode(7, OUTPUT); 
  // initialize the serial port:
  Serial.begin(9600);
while (Serial.available() == 1){ // dont start moving untill the usb is unplugged.
  delay(5000);
  }
  Forward(10000);

}

void loop(){
  int sensor = analogRead(pot);
Serial.println(sensor);
//delay(1);
 myStepper.setSpeed(sensor);
if(sensor > 701){
  myStepper.step(-stepsPerRevolution);
  }
  if(sensor < 700 && sensor > 500){
myStepper.halt();
    }if(sensor < 500){
     myStepper.step(stepsPerRevolution);
    }






}

void Forward(int T){ //if the other direction is high, turn it off.
 if(digitalRead(rv)){
Stap();
 }
  digitalWrite(fw, HIGH);
  delay(T);
  digitalWrite(fw, LOW);
  }

void Reverse(){
  if(digitalRead(fw)){
Stap();
}
    digitalWrite(rv, HIGH);
    delay(T);
    digitalWrite(fw, LOW);
  }  

void Stap(){
  digitalWrite(fw, LOW);
  digitalWrite(rv, LOW);
  }