//by stephan schulz
//used for project 'exercise machine' 
//see it at http://maybevideodoes.de/sites/neon.html

int mode = 2; //or 1 but it is not ampliyied enough 
int pulse = 100; // the wait time between high and low for one step sequence
int pulseDir = 50;

int on = 1;
int off = 0;

int aa [] ={
  0,0,0,0,0};

int lastSensor[] = {
  0,0,0,0,0};

//-----------motor
int stepCount[] = {
  0,0,0,0,0};

int sensor[] = {
  0,0,0,0,0};

int dirM[] = {
  0,0,0,0,0};

signed int diffM[] = {
  0,0,0,0,0};

void setup()
{

  Serial.begin(9600);
  Serial.println("---start---");

  int i;
  for (i=0; i <= 9; i++) {
    pinMode(i, OUTPUT);
  }

  for (i=0; i <= 4; i++) {
    lastSensor[i] = analogRead(i) * mode; // remembers poti pos for comparison and noise reduction
    stepCount[i] =  checkSensor(i); // prevents motors from turning on start
    intUnit(i);
  }

}

void loop()
{

  for (int i=0; i <= 4; i++) {
    if (abs(sensor[i]-stepCount[i]) == 0) {
      intUnit(i); 
    } 
    else {
      stepCount[i] = stepCount[i] + dirM[i]; 
      aa[i] = on;
    }
  }


  stepIt();
}


int intUnit(int mUnit)
{
  aa[mUnit] = off;

  sensor[mUnit] = checkSensor(mUnit);

  diffM[mUnit] =  sensor[mUnit]-stepCount[mUnit];
  signed int diff = diffM[mUnit];
  
  if (diff !=  0) { 
    dirM[mUnit] = diff / abs(diff);
    int dir = abs( (dirM[mUnit] - 1) / 2);

    digitalWrite((mUnit*2)+1, dir);
  //  delayMicroseconds(pulseDir);
  }
}



int checkSensor(int resPin)
{
  int temp_bend = analogRead(resPin) * mode;
  int oldSensor = lastSensor[resPin];

  int dd = abs(temp_bend - oldSensor);


  if (dd > 15*mode) {
    lastSensor[resPin] = temp_bend;

    temp_bend = (temp_bend/4);
  } 
  else {
    temp_bend = (oldSensor/4);
  }
  return round(temp_bend);

  // 2.2 seems to be the convertion from sensor value to motor value,
  //use /4for half stepping, /2 for quarter stepping

}




void stepIt()
{
  delayMicroseconds(pulse);
  digitalWrite(0, LOW);
  digitalWrite(2, LOW);
  digitalWrite(4, LOW);
  digitalWrite(6, LOW);
  digitalWrite(8, LOW);
 // delayMicroseconds(pulse); // 1000 micro = 1 milli
delay(3);
  digitalWrite(0, aa[0]);
  digitalWrite(2, aa[1]);
  digitalWrite(4, aa[2]);
  digitalWrite(6, aa[3]);
  digitalWrite(8, aa[4]);
 // delayMicroseconds(pulse);
 delay(3);
}