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// impulzy pro step driver @ Arduino nano
// rizeni otaceni veze tanku RC impulzy PWM 

namespace {
  byte pin_krok = 12; // pin STEP
  byte pin_smer = 11; // pin DIR
  byte inp_PWM = 2;   // pin PWM in 
  int hystereze = 40;
  int neutral_uS = 1500;
  long int pauza_mS;
  int cislo;
  byte smer;
  long int inp_uS = 1500;
  long int new_uS;
  long int aktual_uS;
  int min_mS = 2;
  int max_mS = 400;
  // long int aktual_poz = 0;
  long int ne_h_uS;
  long int neah_uS;
  long int max_min_mS;
  }      

void setup() {
  pinMode(pin_krok, OUTPUT); // signál STEP
  pinMode(pin_smer, OUTPUT); // signál DIR
  pinMode(inp_PWM, INPUT_PULLUP);
  pinMode(10, OUTPUT);
  digitalWrite(10, HIGH);
  // aktual_poz = 0;
  // Serial.begin(115200);
  ne_h_uS = neutral_uS - hystereze;
  neah_uS = neutral_uS + hystereze;
  max_min_mS = max_mS + min_mS;
  delay(500);
  attachInterrupt(0, ctipuls, CHANGE);
  }

void loop() {
  
  if (inp_uS < ne_h_uS){
    cislo = map(inp_uS, ne_h_uS, 892, min_mS, max_mS);
    smer = 0;
  }
  if (inp_uS > neah_uS){
    cislo = map(inp_uS, neah_uS, 2076, min_mS, max_mS);
    smer = 1;
  }
  pauza_mS = max(min_mS, max_min_mS - cislo);
  if (inp_uS > neah_uS or inp_uS < ne_h_uS) krok();
  // tisk();  
  delay(pauza_mS);
  }

void krok() { 
  digitalWrite(pin_smer, smer);
  digitalWrite(pin_krok, HIGH);
  delayMicroseconds(8);
  digitalWrite(pin_krok, LOW);
  // if (smer == 1) aktual_poz--;
  // if (smer == 0) aktual_poz++; 
  }

 void ctipuls() {
  if (digitalRead(inp_PWM) == HIGH) {
    new_uS = micros();
    }
    else if (digitalRead(inp_PWM) == LOW) {
      aktual_uS = micros(); 
      new_uS = aktual_uS - new_uS;    
      }
  if (new_uS > 900 and new_uS < 2100) inp_uS = new_uS - 12; // osetreni delky
  }

void tisk() { 
  Serial.print(inp_uS);
  Serial.print("   ");
  Serial.println(pauza_mS);
  }