// Pin Definitions
const int EN_PIN = 1;    // Enable pin for DRV8421B
const int IN1_PIN = 5;   // Input 1 pin for direction control
const int IN2_PIN = 6;   // Input 2 pin for direction control

// Motor Control Parameters
const int STEPS_PER_REVOLUTION = 300;  // Typical for NEMA17 (1.8 degree step angle)

void setup() {
  // Initialize pins
  pinMode(EN_PIN, OUTPUT);
  pinMode(IN1_PIN, OUTPUT);
  pinMode(IN2_PIN, OUTPUT);

  // Initialize Serial for debugging
  Serial.begin(115200);
  // Ensure motor is initially disabled
  digitalWrite(EN_PIN, LOW);

}

// Function to rotate motor clockwise
void rotateClockwise(int steps) {
  // Enable the driver
  digitalWrite(EN_PIN, HIGH);
  
  // Set up for clockwise rotation
  digitalWrite(IN1_PIN, LOW);
  digitalWrite(IN2_PIN, HIGH);
 
  // Step the motor
  for (int i = 0; i < steps; i++) {
    // Alternate between IN1 and IN2 to create stepping
    digitalWrite(IN1_PIN, High);
    delayMicroseconds(3000);
    digitalWrite(IN1_PIN, Low);
    delayMicroseconds(3000);
  }
  
  // Disable the driver
  digitalWrite(EN_PIN, LOW);
}

// Function to rotate motor counter-clockwise
void rotateCounterClockwise(int steps) {
  // Enable the driver
  digitalWrite(EN_PIN, HIGH);
  
  // Set up for counter-clockwise rotation
  digitalWrite(IN1_PIN, LOW);
  digitalWrite(IN2_PIN, HIGH);
  
  // Step the motor
  for (int i = 0; i < steps; i++) {
    // Alternate between IN2 and IN1 to create stepping
    digitalWrite(IN2_PIN, HIGH);
    delayMicroseconds(3000);
    digitalWrite(IN2_PIN, LOW);
    delayMicroseconds(3000);
  }
  
  // Disable the driver
  digitalWrite(EN_PIN, LOW);
}

void loop() {
  // Rotate clockwise for one full revolution
  Serial.println("Rotating Clockwise");
  rotateClockwise(STEPS_PER_REVOLUTION);
  delay(1000);
  
  // Rotate counter-clockwise for one full revolution
  Serial.println("Rotating Counter-Clockwise");
  rotateCounterClockwise(STEPS_PER_REVOLUTION);
  delay(1000);
}