#define In1pin 7
#define In2pin 8
#define Speedpin  9
#define asingle A6
#define Step  A1
#define Dir   A0
#define Enable  12
#define setstep  400            // 1/2步模式 一圈 步长400
#define nw_step  setstep * 1.7  // 400 x 1.7 = 680步
#define delayM   600            // 延时微秒
int x;
void setup()
{
  pinMode(Enable,OUTPUT); 
  pinMode(Step,OUTPUT); 
  pinMode(Dir,OUTPUT); 
  digitalWrite(Enable,LOW); 
  Serial.begin(9600);
  pinMode(In1pin, OUTPUT);
  pinMode(In2pin, OUTPUT);
  pinMode(Speedpin, OUTPUT);
  pinMode(asingle, INPUT);
  digitalWrite(In1pin,HIGH); 
  digitalWrite(In2pin,LOW); 
  analogWrite(Speedpin,200);
}
void(* resetFunc) (void) = 0; //制造重启命令

void DCMOTOR_RUN(){
  digitalWrite(In1pin,HIGH); 
  digitalWrite(In2pin,LOW); 
  analogWrite(Speedpin,200);
  }
void DCMOTOR_STOP(){ 
  digitalWrite(In1pin,LOW); 
  digitalWrite(In2pin,LOW); 
  analogWrite(Speedpin,0);
  }
void STEP_F(){        
  digitalWrite(Dir,HIGH); 
  for(x = 0; x < setstep; x++) 
  {
      digitalWrite(Step,HIGH); 
      delayMicroseconds(delayM); 
      digitalWrite(Step,LOW); 
      delayMicroseconds(delayM);
      if(!(10000<=millis() && millis()<=20000)){break;}
    }}
void STEP_B(){         
   digitalWrite(Dir,LOW); 
   for(x = 0; x < setstep; x++) 
   {   digitalWrite(Step,HIGH); 
       delayMicroseconds(delayM); 
       digitalWrite(Step,LOW);
       delayMicroseconds(delayM); 
       if(!(25000<=millis() && millis()<=35000)){break;}
     }}
void STEP_CONTROL(){


}
 
void loop()
{ 
  DCMOTOR_RUN();                        // 直流电机转动
  int val = analogRead(asingle);
  val = map(val,0,1023,0,255);
  Serial.print("A6类比信号为：");Serial.println(val);
  Serial.print("millis()为：");Serial.println(millis()); // 内部计数器
  while(1){
    if(10000<=millis() && millis()<=20000)
    {      DCMOTOR_STOP(); STEP_F();      }
    else if(25000<=millis() && millis()<=35000)
     {     DCMOTOR_STOP(); STEP_B();     }
    else if(10000<=millis()&& millis()<=35000)
    {      DCMOTOR_STOP();      } // 直流电机停止
     else{break;}
}
  if (millis() >= 40000)
  { // 复位函数 重置程序
    resetFunc();
  }
  //STEP_CONTROL();
}