Motorized Video Slider

#include <AccelStepper.h>
#include <SPI.h>
//#include <LM15SGFNZ07.h>
#include <SoftwareSerial.h>


#define EN 8
#define X_DIR 5  // forgató
#define X_STP 2 
#define Z_DIR 7  //lineáris slider
#define Z_STP 4 
#define status_LED 12 // a visszajelző led
#define system_voltage_level A3 
//#define SpeedSPPin A4
//#define PosSPPin A5



//#define buttonPin 9 // A gomb a 9-es lábon

// Define a stepper and the pins it will use
AccelStepper stepper_X(AccelStepper::DRIVER, X_STP, X_DIR);
AccelStepper stepper_Z(AccelStepper::DRIVER, Z_STP, Z_DIR);
//LM15SGFNZ07 lcd(1,12,0); //  [SDATA(11),SCLK(13),RS(1),RESET(12),CS(0)]


int dir = 1;
int blinkled = 1;
int blinkcnt = 0;
int onoff = 0; //0-motor off
int autman = 1; //0-man
int buttonState = 0;

//int SpeedSPValue = 0;
//int PosSPValue = 0;
int VoltValue = 0;

int speed_sp = 500;
int move_dev = 30;
int pos = 1500;
int XZ_ratio = 4;  //default 2 

char command; String string;
int command_type;

int hazaindult = 0;

SoftwareSerial mySerial(10, 11); // RX, TX

void setup()
{  
  
      mySerial.begin(9600);
      Serial.begin(9600);
         
      pinMode (EN, OUTPUT);
      digitalWrite (EN, HIGH);

      pinMode (status_LED, OUTPUT);
    
//    pinMode(buttonPin, INPUT);
//    digitalWrite (EN, LOW);  motor fix engedélyezés

    stepper_X.setAcceleration(500 * 4 * XZ_ratio /move_dev);
    stepper_Z.setAcceleration(500);

        delay(2000);
}

// Z- lineáris 
// X- Forgató

void loop()
{
// Analog bemenetek (0 - 1023)
// 1:3,17 fesz osztó
    VoltValue = analogRead(system_voltage_level);
    if (  VoltValue > 700 ) {     digitalWrite (status_LED, HIGH); } // 300
    if (  VoltValue <= 700 ) 
    {   
      if (blinkled == -1)  {digitalWrite (status_LED, LOW); } 
      if (blinkled == 1)  {digitalWrite (status_LED, HIGH); } 
    }  
    blinkcnt = blinkcnt + 1;   
    if (blinkcnt > 500) {blinkled = -blinkled; blinkcnt = 0;} 

// normál működés
  if (onoff==1 && stepper_Z.distanceToGo() == 0)
  {
     
    delay(500);
    if (autman == 1) { 
        dir = -dir; 
        if (move_dev <= 98)  { stepper_X.moveTo(pos  * XZ_ratio /move_dev * dir * -1); } // ha a mov dev nagyobb mint 98 a forgato nem mozgat
        stepper_Z.moveTo(pos* dir);
    }   
   
  }

  
// motor engedélyezés ha auto, ha hazamegy, vagy manuális és futnia kell
  if ( onoff == 1   || (onoff == 0 && stepper_Z.distanceToGo() != 0) )
  {
//ideoda jár    
    if ( onoff == 1 ) {  stepper_X.setMaxSpeed(speed_sp  * XZ_ratio / move_dev);
    stepper_Z.setMaxSpeed(speed_sp); }
// hazamegy    
    if ( onoff == 0 ) {  stepper_X.setMaxSpeed(500 * XZ_ratio / move_dev);
    stepper_Z.setMaxSpeed(500); }
    digitalWrite (EN, LOW); 
    stepper_X.run();
    stepper_Z.run();
    serread_off();
  }
  
// hazafutás
   if (onoff==0 && stepper_Z.distanceToGo() != 0 && hazaindult == 0) { 
    stepper_X.moveTo(0);
    stepper_Z.moveTo(0);
    hazaindult = 1;
    }
    
// home, motor lekapcsolt, vagy manuálisban a végén vagyunk   
  if (  ( onoff==0  && stepper_Z.distanceToGo() == 0)   )
  {
    digitalWrite (EN, HIGH);
    serread_full(); 
    hazaindult = 0 ;
  }
  
}



void serread_full() 
{
 string = "";
 while(mySerial.available() > 0) 
 {
     command = ((byte)mySerial.read()); 
     if(command == ':') { break; }
     else if(command == 'X') { command_type = 3;}
     else if(command == 'L') { command_type = 2;}
     else if(command == 'S') { command_type = 1;}
     else { string += command; }
     delay(1); 
 //        Serial.println(string); //debug
 }

    if(string =="TON") {  onoff = 1;  }
    if(string =="TOF")  {  onoff = 0;  }
    if(string =="TNX")  {  autman = 0; }
    if(string =="TAU") {  autman = 1; }


    if (command_type == 1 && (string.toInt()>=1) && (string.toInt()<=255)) { speed_sp = (string.toInt()) * 13;  } // szor 13
    if (command_type == 2 && (string.toInt()>=1) && (string.toInt()<=255)) { pos = ((string.toInt()) * 40) + 300;  }
    if (command_type == 3 && (string.toInt()>=1) && (string.toInt()<=255)) { move_dev = (string.toInt())+2;  }
    
}

void serread_off() 
{
 string = "";  
 while(mySerial.available() > 0) 
 {
     Serial.println(string); //debug
     command = ((byte)mySerial.read()); 
     if(command == ':') { break; }
     else { string += command; }
     delay(1); 
 //        Serial.println(string); //debug
 }
     if(string =="TOF")  {  onoff = 0;  }
     if(string =="TNX")  {  autman = 0; }
     if(string =="TAU")  {  autman = 1; }

}