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//art100 20140426 for joystick/usb - arduinouno - A3967 easydriver ver 4.4 2pins - two Stepper Motor(1.8 gradus=1 step)
// http://www.aliexpress.com/item/Dual-axis-XY-Joystick-Module-for-Arduino-...
// http://www.aliexpress.com/item/5pcs-4-lead-Nema17-Stepper-Motor-42-motor...
// http://www.aliexpress.com/item/5pcs-lot-EasyDriver-Stepper-Motor-Driver-...
// 
// pins---------------------------------------
// joystick --------------------------
int joypinx = A0; //joystick pin 
int joypiny = A1; //joystick pin
int joypinf = 10; //joystick pin
// lasers leds ----------------
int led3 = 3; //laser red work 
// stepper motors ------------
int dir_Pin1 = 4;// table
int stepPin1 = 5;//
int dir_Pin2 = 6;// laser
int stepPin2 = 7;//
int stepxcor =10;// for correction >0<
int stepycor =10;// for correction >0<
// constants for scan-------------------------------------
int steptable =400;// 3200/8 gear 160/18=8,88 3200 steps full return
int speetable =100; //very speed  follow
int steplaser =1000;//       gear        5.22 2000 steps full return
int speelaser =20000;//very slow  to work
int retulaser =100;  //very speed  return
// constants for joystick -------------------------------------------
int sp1table =1000;//slow
int sp2table = 100;//speed
int sp1laser =1000;//slow
int sp2laser = 100;//speed
int joyx = 0;     //joystick
int joyy = 0;     //joystick
int joyf = 0;     //joystick
// usb------------------------------
int  commandusb        = 0; //
//---------------------------
void setup() {
  pinMode(joypinx, INPUT);        //joystick X
  pinMode(joypiny, INPUT);        //joystick Y 
  pinMode(joypinf, INPUT_PULLUP); //joystick fire pin
  
  pinMode(led3,OUTPUT); //laser
//  pinMode(led8, OUTPUT);//on shield  
//  pinMode(led9, OUTPUT);//on shield    
//  pinMode(but5,INPUT_PULLUP);//joystickfire 

  digitalWrite(led3, HIGH); //laser to work befor start 
//  digitalWrite(led8, HIGH); //laser to work befor start 
//  digitalWrite(led9, HIGH); //laser to work befor start 
  
  pinMode(dir_Pin1, OUTPUT);//table
  pinMode(stepPin1, OUTPUT);//table
  pinMode(dir_Pin2, OUTPUT);//laser
  pinMode(stepPin2, OUTPUT);//table

  Serial.begin(9600);
}
// stepper motor 1 table for A3987 easydriver 2 pins------------------------------------
void step1(boolean dir1,int steps1,int msec1){
  digitalWrite(dir_Pin1,dir1);                // direction
  for(int i=0;i<steps1;i++){
    digitalWrite(stepPin1,HIGH);    delayMicroseconds(msec1);
    digitalWrite(stepPin1, LOW);    delayMicroseconds(msec1);
  }
}
// stepper motor 2 laser for A3987 easydriver 2 pins------------------------------------
void step2(boolean dir2,int steps2,int msec2){
  digitalWrite(dir_Pin2,dir2);               // direction
  for(int i=0;i<steps2;i++){
    digitalWrite(stepPin2,HIGH);    delayMicroseconds(msec2);
    digitalWrite(stepPin2, LOW);    delayMicroseconds(msec2);
  }
}

//========================================================================
void loop(){
  
  // joystick ----------------------------------------------------------
  joyx = analogRead(joypinx)>>7;  // shift 7 0.1.2.3.4.5.6.7 sanks for speed registry shift Dimax
  joyy = analogRead(joypiny)>>7;  // shift 7 0.1.2.3.4.5.6.7 sanks for speed registry shift Dimax 
  //  Serial.print('X');Serial.print(joyx);Serial.print(';');  Serial.print('Y');Serial.print(joyy);Serial.println(';'); //test
  if(joyx==0){step1(false,stepxcor,sp1table);}//speed
  if(joyx==7){step1(true ,stepxcor,sp1table);}//speed 
  if(joyy==0){step2(false,stepycor,sp2laser);}//speed
  if(joyy==7){step2(true ,stepycor,sp1laser);}//speed   !!! sp1laser !!! slow down
  // laser and led --------------------------------------------------------
  if(digitalRead(joypinf)==LOW) { digitalWrite(led3, LOW); } // laser to work
  else                          { digitalWrite(led3,HIGH); } // laser to work
//  if(digitalRead(joypinf)==LOW) { digitalWrite(led9, LOW); } // led control for test
//  else                          { digitalWrite(led9,HIGH); } // led control for test
  // joystick ----------------------------------------------------------
  
  // usb ----------------------------------------------------------------
  if (Serial.available() > 0) {   
    commandusb = Serial.read();
    if (commandusb==76 ) {digitalWrite(led3, HIGH);}//digitalWrite(led9, HIGH);} // Laser on  L
    if (commandusb==108) {digitalWrite(led3,  LOW);}//digitalWrite(led9,  LOW);} // laser off l
    if (commandusb==47 ) {step2(true, stepxcor,sp2table);}                    // table     /  
    if (commandusb==42 ) {step2(false,stepxcor,sp2table);}                    // table     *  
    if (commandusb==45 ) {step1(true, stepycor,sp2laser);}                    // laser down+      
    if (commandusb==43 ) {step1(false,stepycor,sp2laser);}                    // laser up  -
    //Serial.print("commanda usb received: "); Serial.println(commandusb);
  }
  // usb ----------------------------------------------------------------  

  //....

}

//========================================================================
// for L298 4 pins--------------------------
////    for (o=0; o<stepsmotor1; o++) {                      // 360 gradus   table
//      for (m=0; m<step1Laser/8; m++) {         // 200step/8=25step 25step*1.8gradus/step = 45 gradus scanning low 
//        digitalWrite(led3, HIGH);               //laser on and down
//        //myStepper2.step(+1);
//        step2(true, steptable,speetable);
////        delay(100);                            //for computer tormoz 0,01 sek   
//        delay(500);                            //for computer tormoz 0,01 sek         
////        delay(1000);                            //for computer tormoz 1 sek
//      } 
//      //return on start
//      for (m=0; m<step1Laser/8; m++) {         // 200step/8=25step 25step*1.8gradus/step = 45 gradus return
//        digitalWrite(led3, LOW);
//        //myStepper2.step(-1);                   // laser up
//        //myStepper1.step(+1);                   // table 45 gradus
//        step2(false,steptable,speetable);
//        step1(true, steptable,speetable);
//      } 
//      delay(1000);                             //for computer tormoz 1   5 sek
  
//------------------------------------------
//DEC Char  D   Ch  D   Ch D   Ch
//0  null   32  sp  64  @  96  ` 
//1         33  !   65  A  97  a 
//2         34  "   66  B  98  b 
//3         35  #   67  C  99  c 
//4         36  $   68  D  100 d 
//5         37  %   69  E  101 e 
//6         38  &   70  F  102 f 
//7         39  '   71  G  103 g 
//8         40  (   72  H  104 h 
//9  tab    41  )   73  I  105 i 
//10 line   42  *   74  J  106 j 
//11        43  +   75  K  107 k 
//12        44  ,   76  L  108 l 
//13 retur  45  -   77  M  109 m 
//14        46  .   78  N  110 n 
//15        47  /   79  O  111 o 
//16        48  0   80  P  112 p 
//17        49  1   81  Q  113 q 
//18        50  2   82  R  114 r 
//19        51  3   83  S  115 s 
//20        52  4   84  T  116 t 
//21        53  5   85  U  117 u 
//22        54  6   86  V  118 v 
//23        55  7   87  W  119 w 
//24        56  8   88  X  120 x 
//25        57  9   89  Y  121 y 
//26        58  :   90  Z  122 z 
//27        59  ;   91  [  123 { 
//28        60  <   92  \  124 | 
//29        61  =   93  ]  125 } 
//30        62  >   94  ^  126 ~ 
//31        63  ?   95  _  127   
//----------------------------------------