/*
Controlling 3 Axis Mill via NES Controller
Created/Modified By Edward Ford
23 February 2010
Dixon, IL

Original Stepper Driver Code:
Dan Thompson
http://danthompsonsblog.blogspot.com/2008/09/easydriver-v31-tutorial.html
September 2008

Original NES Controller Work:
By Sebastian Tomczak
21 July 2007
Adelaide, Australia
*/

int i;

int latch = 2; // set the latch pin
int clock = 3; // set the clock pin
int datin = 4;// set the data in pin

int selectPin = 7; //set button SELECT arrow to Pin 8
int startPin = 6; //set button START arrow to Pin 7
int xsteppin = 13; //set pin 13 to X axis step pin
int xdirpin = 12; //set pin 12 to X axis dir pin
int ysteppin = 11; //set pin 11 to Y step pin
int ydirpin = 10; //set pin 10 to Y dir pin
int zsteppin = 9; //set pin 9 to Z step pin
int zdirpin = 8; //set pin 8 to Z dir pin
byte controller_data = 0;

/* SETUP */
void setup() {
  Serial.begin(57600);
  pinMode(latch,OUTPUT);
  pinMode(clock,OUTPUT);
  pinMode(datin,INPUT);
  
  pinMode(selectPin, OUTPUT);
  pinMode(startPin, OUTPUT);
  pinMode(xdirpin, OUTPUT);
  pinMode(xsteppin, OUTPUT);
  pinMode(ydirpin, OUTPUT);
  pinMode(ysteppin, OUTPUT);
  pinMode(zdirpin, OUTPUT);
  pinMode(zsteppin, OUTPUT);  
  digitalWrite(latch,HIGH);
  digitalWrite(clock,HIGH);
}

/* CONTROLLER READ */
void controllerRead() {
  controller_data = 0;
  digitalWrite(latch,LOW);
  digitalWrite(clock,LOW);

  digitalWrite(latch,HIGH);
  delayMicroseconds(2);
  digitalWrite(latch,LOW);

  controller_data = digitalRead(datin);

  for (int i = 1; i <= 7; i ++) {
    digitalWrite(clock,HIGH);
    delayMicroseconds(2);
    controller_data = controller_data << 1;
    controller_data = controller_data + digitalRead(datin) ;
    delayMicroseconds(4);
    digitalWrite(clock,LOW);
  }
}

/* PROGRAM */
void loop() {
controllerRead();
 /*This is where all the action is. Loop calls the controllerRead function which 
 controllerRead then returns a number in binary form. If the no buttons are pressed
 then controllerRead returns 11111111. See comments below for specific return values 
 The switch statement then reads controller_data and compares it the the 8 known values it may produce.
 Those conditions are then mapped to an LED which is defined in the top section of the code.
 */
 switch (controller_data) {
   case B01111111:    // A Button = 01111111
	digitalWrite(zdirpin, LOW);     // Set the direction.
	Serial.println("Going Up?");
        for (i = 0; i<400; i++)       // Iterate for 1600 microsteps.
        {
         digitalWrite(zsteppin, LOW);  // This LOW to HIGH change is what creates the
         digitalWrite(zsteppin, HIGH); // "Rising Edge" so the easydriver knows to when to step.
          delayMicroseconds(200);      // This delay time is close to top speed for this
        }    
     break;
   case B10111111:    // B Button = 10111111
     	digitalWrite(zdirpin, HIGH);     // Set the direction.
	Serial.println("Going Down?");
        for (i = 0; i<400; i++)       // Iterate for 1600 microsteps.
        {
         digitalWrite(zsteppin, LOW);  // This LOW to HIGH change is what creates the
         digitalWrite(zsteppin, HIGH); // "Rising Edge" so the easydriver knows to when to step.
          delayMicroseconds(200);      // This delay time is close to top speed for this
        }    
     break;

//In a future version I would like this to trip a relay and start/stop my spindle (dremel)
   case B11011111:    // Select Button = 11011111
     digitalWrite(selectPin, HIGH);
     break;
   case B11101111:    // Start = 11101111
     digitalWrite(startPin, HIGH); //turn STRART LED on
     break;

/* Forward/Backward MOTOR CONTROL SECTION Code Here */   
   case B11110111:    // UP = 11110111
	digitalWrite(ydirpin, LOW);     // Set the direction.
	Serial.println("Going Forward?");
        for (i = 0; i<400; i++)       // Iterate for 1600 microsteps.
        {
         digitalWrite(ysteppin, LOW);  // This LOW to HIGH change is what creates the
         digitalWrite(ysteppin, HIGH); // "Rising Edge" so the easydriver knows to when to step.
          delayMicroseconds(200);      // This delay time is close to top speed for this
        }    
     break;
   case B11111011:    // DOWN = 11111011
	digitalWrite(ydirpin, HIGH);     // Set the direction.
	Serial.println("Going Backward?");
        for (i = 0; i<400; i++)       // Iterate for 1600 microsteps.
        {
         digitalWrite(ysteppin, LOW);  // This LOW to HIGH change is what creates the
         digitalWrite(ysteppin, HIGH); // "Rising Edge" so the easydriver knows to when to step.
          delayMicroseconds(200);      // This delay time is close to top speed for this
        }    
     break;
/* END Forward/Backward MOTOR CONTROL SECTION Code Here */   

/*LEFT/RIGHT MOTOR CONTROL SECTION Code Here */   
   case B11111101:    // LEFT = 11111101
	digitalWrite(xdirpin, LOW);     // Set the direction.
	Serial.println("Going Left?");
        for (i = 0; i<400; i++)       // Iterate for 1600 microsteps.
        {
         digitalWrite(xsteppin, LOW);  // This LOW to HIGH change is what creates the
         digitalWrite(xsteppin, HIGH); // "Rising Edge" so the easydriver knows to when to step.
          delayMicroseconds(200);      // This delay time is close to top speed for this
        }    
     break;
   case B11111110:    // RIGHT = 11111110
	digitalWrite(xdirpin, HIGH);     // Set the direction.
	Serial.println("Going RIGHT?");
        for (i = 0; i<400; i++)       // Iterate for 1600 microsteps.
        {
         digitalWrite(xsteppin, LOW);  // This LOW to HIGH change is what creates the
         digitalWrite(xsteppin, HIGH); // "Rising Edge" so the easydriver knows to when to step.
          delayMicroseconds(200);      // This delay time is close to top speed for this
        }
    break;
 /*END LEFT/RIGHT MOTOR CONTROL SECTION Code Here */   

 }
   delay(10);
   //Wait for next button push
}