/////////////////////////////////////////////////////////////////// Programm einrichten ////////////////////////////////////////////////////////////////////////

unsigned int Startauslenkung = 90;                               // Wert 128 entspricht 90° (zwischen 0 und 128)
int Positionen[] = {0,15,30,45,60,75,90,100,110,120,130,145,160,175};                               // Positionen (Steps ausgehend von Startauslenkung mit Komma getrennt eingeben, Werte müssen >= sein und immer größer werden, Maximalauslenkung=Startauslenkung-größte Position muss kleiner als 128 sein!)
int FpU = 32;                                                     // Fotos pro Umdrehung (mindestens 1)
int ZpF = 3000;                                                   // Zeit je Foto (mindestens 100ms)

/////////////////////////////////////////////////////////////////// Grundeinstellungen (sollten nicht verändert werden) /////////////////////////////////////////
// MotorA = Turntable
// MotorB = Rotator

int LEDPin = 13; // choose the pin for the LED
int ButtonPin = 11;   // choose the input pin (for a pushbutton)
int TransPin = 10;

const int MotorAPin1 = 6;  // Blue   - In 1
const int MotorAPin2 = 7;  // Pink   - In 2
const int MotorAPin3 = 8; // Yellow - In 3
const int MotorAPin4 = 9; // Orange - In 4

const int MotorBPin1 = 2;  // Blue   - In 1
const int MotorBPin2 = 3;  // Pink   - In 2
const int MotorBPin3 = 4; // Yellow - In 3
const int MotorBPin4 = 5; // Orange - In 4

int senkrechteSchritte = 15;                                     // Senkrechte Auflösung (Steps zwischen Turntable-Ebenen (128 entspricht 90°), wenn der Abstand zwischen den "Turntable-Ebenen" zu groß ist)
int MotorBSpeed  = 4000; // Wartezeit in ms (1000<x<16000)
int MotorASpeed  = 2000; // Wartezeit in ms (1000<x<16000)
int val = 0;     // variable for reading the pin status
int aktuellePosition = 0; //Laufvariable für Rotator
int Positionsanzahl = sizeof(Positionen)/2;
int t = 0;
int s = -1;

void setup() {
  pinMode(MotorAPin1, OUTPUT);
  pinMode(MotorAPin2, OUTPUT);
  pinMode(MotorAPin3, OUTPUT);
  pinMode(MotorAPin4, OUTPUT);

  pinMode(MotorBPin1, OUTPUT);
  pinMode(MotorBPin2, OUTPUT);
  pinMode(MotorBPin3, OUTPUT);
  pinMode(MotorBPin4, OUTPUT);
  
  pinMode(LEDPin, OUTPUT);
  pinMode(ButtonPin, INPUT);
  pinMode(TransPin, OUTPUT);

    //Test ob die eingegebenen Werte i.O.:
                                                                                       
  if(FpU<1 or ZpF<100 or (Startauslenkung<Positionen[Positionsanzahl-1] && Positionen[Positionsanzahl-1]-Startauslenkung>128) or Startauslenkung>128){t =1;}             
  for (int i=0;i<Positionsanzahl;i+=1){if(Positionen[i]<=s){t=1;}if(Positionen[i]>s){s = Positionen[i];}}
  if (t == 1){digitalWrite(LEDPin, HIGH);for (int i=1;i>0;i+=1){i=1;}}
}
void loop(){
  aktuellePosition= 0;
  MotorAstop();
  MotorBstop();  
    do {                                          //Warteschleife für Knopfdruck zum starten
      val = digitalRead(ButtonPin); 
      digitalWrite(LEDPin, HIGH);
      delay(50);
      digitalWrite(LEDPin, LOW);
      delay(50);
    } while (val == LOW);
 
  MotorBlinks(Startauslenkung);                                                 // Startposition


    for (int i=0;i<Positionsanzahl;i+=1){
  
      while (aktuellePosition<Positionen[i]+1){                                // Zwischenschritte senkrecht
        if (digitalRead(ButtonPin) == HIGH){goto stop;}
        MotorBrechts(1);
        t+=1;
          if ((t == senkrechteSchritte)  && (aktuellePosition-1>Positionen[0])){
          
          t = 0;
          Ausloesen(ZpF);}
        aktuellePosition+=1;}
   
      t = 0;

      for (int j=0;j<FpU;j+=1){                                               // Turntabledrehung
        if (digitalRead(ButtonPin) == HIGH){goto stop;}
        Ausloesen(ZpF);  
        MotorArechts(512/FpU);
      }
      MotorArechts(10);
//      Ausloesen(ZpF);
   }
 
  if (aktuellePosition+1>Startauslenkung){ MotorBlinks(aktuellePosition-Startauslenkung);}  //Endposition einnehmen
  if (aktuellePosition+1<Startauslenkung){ MotorBrechts(Startauslenkung-aktuellePosition);}
stop:{
   digitalWrite(LEDPin, HIGH);
   while(digitalRead(ButtonPin) == HIGH){
     delay(100);}
   digitalWrite(LEDPin, LOW);
    delay(1000);}
}
/////////////////////////////////////////////// Kamera auslösen für x ms ////////////////////////////////////////////////
void Ausloesen(unsigned int Zeit){
    delay(300);
    digitalWrite(TransPin, HIGH);
    digitalWrite(LEDPin, HIGH);
    delay(100);
    digitalWrite(TransPin, LOW);
    digitalWrite(LEDPin, LOW);
    delay(Zeit);
}
/////////////////////////////////////////////// Motor A Setup (Turntable) ////////////////////////////////////////////////
void MotorArechts(unsigned int Steps)
{ 
for(int t=0;t<Steps;t++){  
  // 1
  digitalWrite(MotorAPin4, HIGH);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin1, LOW);
  delayMicroseconds(MotorASpeed);

  // 2
  digitalWrite(MotorAPin4, HIGH);
  digitalWrite(MotorAPin3, HIGH);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin1, LOW);
  delayMicroseconds(MotorASpeed);

  // 3
  digitalWrite(MotorAPin4, LOW);
  digitalWrite(MotorAPin3, HIGH);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin1, LOW);
  delayMicroseconds(MotorASpeed);

  // 4
  digitalWrite(MotorAPin4, LOW);
  digitalWrite(MotorAPin3, HIGH);
  digitalWrite(MotorAPin2, HIGH);
  digitalWrite(MotorAPin1, LOW);
  delayMicroseconds(MotorASpeed);

  // 5
  digitalWrite(MotorAPin4, LOW);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin2, HIGH);
  digitalWrite(MotorAPin1, LOW);
  delayMicroseconds(MotorASpeed);

  // 6
  digitalWrite(MotorAPin4, LOW);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin2, HIGH);
  digitalWrite(MotorAPin1, HIGH);
  delayMicroseconds(MotorASpeed);

  // 7
  digitalWrite(MotorAPin4, LOW);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin1, HIGH);
  delayMicroseconds(MotorASpeed);

  // 8
  digitalWrite(MotorAPin4, HIGH);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin1, HIGH);
  delayMicroseconds(MotorASpeed);
}
}

void MotorAlinks(unsigned int Steps)
{ 
for(int t=0;t<Steps;t++){  
  digitalWrite(MotorAPin1, HIGH);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin4, LOW);
  delayMicroseconds(MotorASpeed);

  digitalWrite(MotorAPin1, HIGH);
  digitalWrite(MotorAPin2, HIGH);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin4, LOW);
  delayMicroseconds(MotorASpeed);

  digitalWrite(MotorAPin1, LOW);
  digitalWrite(MotorAPin2, HIGH);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin4, LOW);
  delayMicroseconds(MotorASpeed);

  digitalWrite(MotorAPin1, LOW);
  digitalWrite(MotorAPin2, HIGH);
  digitalWrite(MotorAPin3, HIGH);
  digitalWrite(MotorAPin4, LOW);
  delayMicroseconds(MotorASpeed);

  digitalWrite(MotorAPin1, LOW);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin3, HIGH);
  digitalWrite(MotorAPin4, LOW);
  delayMicroseconds(MotorASpeed);

  digitalWrite(MotorAPin1, LOW);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin3, HIGH);
  digitalWrite(MotorAPin4, HIGH);
  delayMicroseconds(MotorASpeed);

  digitalWrite(MotorAPin1, LOW);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin4, HIGH);
  delayMicroseconds(MotorASpeed);

  digitalWrite(MotorAPin1, HIGH);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin4, HIGH);
  delayMicroseconds(MotorASpeed);
}
}

void MotorAstop()
{ digitalWrite(MotorAPin4, LOW);
  digitalWrite(MotorAPin3, LOW);
  digitalWrite(MotorAPin2, LOW);
  digitalWrite(MotorAPin1, LOW);
}
/////////////////////////////////////////////// Motor B Setup (Turntable) ////////////////////////////////////////////////
void MotorBrechts(unsigned int Steps)
{ 
for(int t=0;t<Steps;t++){  
  // 1
  digitalWrite(MotorBPin4, HIGH);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin1, LOW);
  delayMicroseconds(MotorBSpeed);

  // 2
  digitalWrite(MotorBPin4, HIGH);
  digitalWrite(MotorBPin3, HIGH);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin1, LOW);
  delayMicroseconds(MotorBSpeed);

  // 3
  digitalWrite(MotorBPin4, LOW);
  digitalWrite(MotorBPin3, HIGH);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin1, LOW);
  delayMicroseconds(MotorBSpeed);

  // 4
  digitalWrite(MotorBPin4, LOW);
  digitalWrite(MotorBPin3, HIGH);
  digitalWrite(MotorBPin2, HIGH);
  digitalWrite(MotorBPin1, LOW);
  delayMicroseconds(MotorBSpeed);

  // 5
  digitalWrite(MotorBPin4, LOW);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin2, HIGH);
  digitalWrite(MotorBPin1, LOW);
  delayMicroseconds(MotorBSpeed);

  // 6
  digitalWrite(MotorBPin4, LOW);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin2, HIGH);
  digitalWrite(MotorBPin1, HIGH);
  delayMicroseconds(MotorBSpeed);

  // 7
  digitalWrite(MotorBPin4, LOW);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin1, HIGH);
  delayMicroseconds(MotorBSpeed);

  // 8
  digitalWrite(MotorBPin4, HIGH);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin1, HIGH);
  delayMicroseconds(MotorBSpeed);
}
}

void MotorBlinks(unsigned int Steps)
{ 
for(int t=0;t<Steps;t++){  
  digitalWrite(MotorBPin1, HIGH);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin4, LOW);
  delayMicroseconds(MotorBSpeed);

  digitalWrite(MotorBPin1, HIGH);
  digitalWrite(MotorBPin2, HIGH);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin4, LOW);
  delayMicroseconds(MotorBSpeed);

  digitalWrite(MotorBPin1, LOW);
  digitalWrite(MotorBPin2, HIGH);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin4, LOW);
  delayMicroseconds(MotorBSpeed);

  digitalWrite(MotorBPin1, LOW);
  digitalWrite(MotorBPin2, HIGH);
  digitalWrite(MotorBPin3, HIGH);
  digitalWrite(MotorBPin4, LOW);
  delayMicroseconds(MotorBSpeed);

  digitalWrite(MotorBPin1, LOW);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin3, HIGH);
  digitalWrite(MotorBPin4, LOW);
  delayMicroseconds(MotorBSpeed);

  digitalWrite(MotorBPin1, LOW);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin3, HIGH);
  digitalWrite(MotorBPin4, HIGH);
  delayMicroseconds(MotorBSpeed);

  digitalWrite(MotorBPin1, LOW);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin4, HIGH);
  delayMicroseconds(MotorBSpeed);

  digitalWrite(MotorBPin1, HIGH);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin4, HIGH);
  delayMicroseconds(MotorBSpeed);
}
}

void MotorBstop()
{ digitalWrite(MotorBPin4, LOW);
  digitalWrite(MotorBPin3, LOW);
  digitalWrite(MotorBPin2, LOW);
  digitalWrite(MotorBPin1, LOW);
}