#include <AccelStepper.h>>
#include <WiFi.h>>
#include <WebServer.h>>

// Replace with your Wi-Fi credentials
#define WIFI_SSID "MAKERSPACE"
#define WIFI_PASSWORD "12345678"

// Define stepper configurations
#define NEMA8_CONFIG 1
#define STEPPER28BYJ_CONFIG 8

// Define GPIO pin numbers for Nema 8 steppers
#define NEMA8_STEP_PIN_1 14
#define NEMA8_DIR_PIN_1 27
#define NEMA8_STEP_PIN_2 26
#define NEMA8_DIR_PIN_2 25
#define NEMA8_STEP_PIN_3 33
#define NEMA8_DIR_PIN_3 32
#define NEMA8_STEP_PIN_4 35
#define NEMA8_DIR_PIN_4 34

// Define GPIO pin numbers for 28BYJ-48 stepper
#define STEPPER28BYJ_PIN1 19
#define STEPPER28BYJ_PIN2 21
#define STEPPER28BYJ_PIN3 22
#define STEPPER28BYJ_PIN4 23

// Create instances of AccelStepper for each stepper
AccelStepper nema8Stepper1(NEMA8_CONFIG, NEMA8_STEP_PIN_1, NEMA8_DIR_PIN_1);
AccelStepper nema8Stepper2(NEMA8_CONFIG, NEMA8_STEP_PIN_2, NEMA8_DIR_PIN_2);
AccelStepper nema8Stepper3(NEMA8_CONFIG, NEMA8_STEP_PIN_3, NEMA8_DIR_PIN_3);
AccelStepper nema8Stepper4(NEMA8_CONFIG, NEMA8_STEP_PIN_4, NEMA8_DIR_PIN_4);

AccelStepper stepper28BYJ(STEPPER28BYJ_CONFIG, STEPPER28BYJ_PIN1, STEPPER28BYJ_PIN3, STEPPER28BYJ_PIN2, STEPPER28BYJ_PIN4);

// Define structure to store stepper positions for each pose
struct Pose {
  long nema8Pos1;
  long nema8Pos2;
  long nema8Pos3;
  long nema8Pos4;
  long stepper28BYJPos;
};

// Define predefined poses
Pose pose1 = {1000, 2000, 3000, 4000, 5120};  // Example positions for each motor
Pose pose2 = {500, 1500, 2500, 3500, 2560};   // Example positions for another pose

// Create a WebServer instance
WebServer server(80);

// Function to move all steppers to a specific pose
void moveToPose(Pose targetPose) {
  nema8Stepper1.moveTo(targetPose.nema8Pos1);
  nema8Stepper2.moveTo(targetPose.nema8Pos2);
  nema8Stepper3.moveTo(targetPose.nema8Pos3);
  nema8Stepper4.moveTo(targetPose.nema8Pos4);
  stepper28BYJ.moveTo(targetPose.stepper28BYJPos);
}

// Function to run all steppers to a specific pose
void runToPose(Pose targetPose) {
  moveToPose(targetPose);
  while (nema8Stepper1.isRunning() || nema8Stepper2.isRunning() || nema8Stepper3.isRunning() || nema8Stepper4.isRunning() || stepper28BYJ.isRunning()) {
    nema8Stepper1.run();
    nema8Stepper2.run();
    nema8Stepper3.run();
    nema8Stepper4.run();
    stepper28BYJ.run();
  }
}

void setup() {
  // Start Serial communication
  Serial.begin(115200);

  // Connect to Wi-Fi
  WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
    Serial.println("Connecting to WiFi...");
  }
  Serial.println("Connected to WiFi");
  Serial.print("IP address: ");
  Serial.println(WiFi.localIP());

  // Set up web server routes
  server.on("/", handleRoot);
  server.on("/runPose", handleRunPose);
  server.begin();

  // Set maximum speed and acceleration for Nema 8 steppers
  nema8Stepper1.setMaxSpeed(1000);
  nema8Stepper2.setMaxSpeed(1000);
  nema8Stepper3.setMaxSpeed(1000);
  nema8Stepper4.setMaxSpeed(1000);

  nema8Stepper1.setAcceleration(500);
  nema8Stepper2.setAcceleration(500);
  nema8Stepper3.setAcceleration(500);
  nema8Stepper4.setAcceleration(500);

  // Set maximum speed and acceleration for 28BYJ-48 stepper
  stepper28BYJ.setMaxSpeed(500);
  stepper28BYJ.setAcceleration(200);
}

void loop() {
  // Handle incoming web requests
  server.handleClient();
}