// Firmware 0.6beta
// This is the Firmware of the DIY camSlider 
// for a detailed description of the Slider visit http://www.stefankohler.de
//
// Copyright (C) 2011 Stefan Kohler
//
// If you have any questions or some ideas to improve the code, please write to info(at)stefankohler.de
//
// Use this code at your own risk.

#include <Wire.h>
#include <LiquidCrystal_I2C.h> 
LiquidCrystal_I2C lcd(0x27,16,2);

// ############### userdefined VARIABLES ###############
// you may have to change these settings, depending on you Motor and DC-Voltage
int speed_factor = 5;    // this is the gerneal speed-factor. higher = slower movements; range about 50 to 200
int motorDelay = 7;      // HIGH-Pulsetime for STEP. You may higher this value if you use an easydriver or some other controller. For testing i recommend to use 25

// Maximum and Minimus values, used for mapping the Speed-Poti
int max_speed = 1023;
int min_speed = 0;

// ############### don't change anything beyond this point ###############
// display variables and splash-screen
String a = "CamSlider";
String b = "c2011";
String c = "Firmware";
String d = "0.5.0b";
String lastA = "";
String lastB = "";
String lastC = "";
String lastD = "";

// the Pins used on the Arduino Mega
// all buttons and switches are labeled in the namespace *_btn, for LED's i used *_led outputs for the easyDriver are labeled as *_pi
const int clear_btn = 33;      
const int dampingLeft_btn = 47;
const int dampingLeft_led = 7; 
const int dampingRight_btn = 53;
const int dampingRight_led = 6; 
const int damping_pin = A2;
const int dir_pin = 34;// 52;               
const int freeRunLeft_btn = 45;
const int freeRunLeft_led = 12;
const int freeRunRight_btn = 43;
const int freeRunRight_led = 13;
const int gotoP1_btn = 41;
const int gotoP1_led = 4;
const int gotoP2_btn = 49;
const int gotoP2_led = 5;
const int ms1_pin = 48;
const int ms2_pin = 50;
const int ms3_pin = 52;
const int p1_led = 9;
const int p2_led = 11;
const int setP1_btn = 39;
const int setP2_btn = 37;
const int speed_pin = A1;
const int speedX01_btn = 51;
const int speedX01_led = 2;
const int speedX10_led = 3;
const int speedX10_btn = 35;
const int step_pin = 36; //50;           
const int stopLeft_led = 8;
const int stopRight_led = 10;
const int temp_pin = A0;

// initiate the variables for the states of the buttons
int clear_state = 0;
int dampingLeft_state = 0;
int dampingRight_state = 0;
int freeRunLeft_state = 0;
int freeRunRight_state = 0;
int gotoP1_state = 0;
int gotoP2_state = 0;
int setP1_state = 0;
int setP2_state = 0;
int speedX01_state = 0;
int speedX10_state = 0;
int mode = 0;
int LCDmode = 0;
int dampingMode = 0;
int speedMode = 0;

// values
unsigned long speed_value = 1;
int damping_value = 1;
int temp_value = 0;
unsigned long stepperSpeed = 0;
int time_value = 0;

// timer variables
unsigned long ct = 0;  // current Time
unsigned long lt = 0;  // last timer
unsigned long lastRESET = 500000;
unsigned long lastBUTTONS = 0;
unsigned long lastMODES = 0;
unsigned long lastTEMPERATURE = 0;
unsigned long lastSTEP = 0;
long stepperPosition = 0;
long stepperPositionP1 = 0;
long stepperPositionP2 = 0;
long stepperDirection = 0;

// ############### TEMPORARY VARIABLES ##############
int tempI = 0;
int tempTEMP = 0;
// ############### SETUP ###############
void setup() {
  pinMode(clear_btn,INPUT);
  pinMode(dampingLeft_btn,INPUT);
  pinMode(dampingLeft_led,OUTPUT);
  pinMode(dampingRight_btn,INPUT);
  pinMode(dampingRight_led,OUTPUT);
  pinMode(dir_pin,OUTPUT);
  pinMode(freeRunLeft_btn,INPUT);
  pinMode(freeRunLeft_led,OUTPUT);
  pinMode(freeRunRight_btn,INPUT);
  pinMode(freeRunRight_led,OUTPUT);
  pinMode(gotoP1_led,OUTPUT);
  pinMode(gotoP2_btn,INPUT);
  pinMode(gotoP2_led,OUTPUT);
  pinMode(ms1_pin,OUTPUT);
  pinMode(ms2_pin,OUTPUT);
  pinMode(ms3_pin,OUTPUT);
  pinMode(p1_led,OUTPUT);
  pinMode(p2_led,OUTPUT);
  pinMode(setP1_btn,INPUT);
  pinMode(setP2_btn,INPUT);
  pinMode(speedX01_btn,INPUT);
  pinMode(speedX01_led,OUTPUT);
  pinMode(speedX10_btn,INPUT);
  pinMode(speedX10_led,OUTPUT);
  pinMode(step_pin,OUTPUT);
  pinMode(stopLeft_led,OUTPUT);
  pinMode(stopRight_led,OUTPUT);

  digitalWrite(ms1_pin,HIGH);
  digitalWrite(ms2_pin,HIGH);
  digitalWrite(ms3_pin,HIGH);
  digitalWrite(dir_pin,LOW);
  digitalWrite(step_pin,LOW);

  lcd.init();                // initialize the lcd 
  lcd.backlight();           // switch on backlight 
  anzeige();                 // refresh display
  //delay(4000);              // show splashscreen
  for (tempI=0;tempI<4;tempI++){
    delay(100);
    digitalWrite(stopRight_led,LOW);
    digitalWrite(stopLeft_led,HIGH);    
    delay(100);
    digitalWrite(stopRight_led,HIGH);
    digitalWrite(stopLeft_led,LOW);
  }
  digitalWrite(stopRight_led,LOW);
  digitalWrite(stopLeft_led,LOW);
}
// ############################# MAIN LOOP #########################
void loop() {
  ct = micros();   // sets the current Time for timing events
  buttons();      // read the buttons
  modes();        // set modes for slide
  if (mode == 1 || mode == 2){    // if the mode is FreeRun
    runStepperFree();             // call the routine to drive
  }
  if (mode == 3 || mode == 4){    // if the mode is GotoPosition
    runStepperPos();              // call the routine to drive
  }
}


// ############### FUNKTIONEN ###############
void runStepperPos(){ // gotoPosition
  if (ct - lastSTEP > stepperSpeed){  // ct = aktuelle Zeit in microSekunden
    // drive left
    if (stepperPosition > stepperPositionP1 && stepperDirection == 0){ 
      digitalWrite(step_pin,HIGH);      // make a step
      delayMicroseconds(motorDelay);           // wait for some time
      stepperPosition-=1;          
      digitalWrite(step_pin,LOW);       // end of the step
    }
    // nach rechts
    if (stepperPosition < stepperPositionP2 && stepperDirection == 1){    
      digitalWrite(step_pin,HIGH);      // make a step
      delayMicroseconds(motorDelay);           // wait for some time
      stepperPosition+=1;
      digitalWrite(step_pin,LOW);      // end of the step
    }
    lastSTEP = ct;              
  }
}
void runStepperFree(){ // freeRun
  if (ct - lastSTEP > stepperSpeed){ 
    digitalWrite(step_pin,HIGH);      // make a step
    delayMicroseconds(motorDelay);           // keep the pin HIGH for 800icroseconds
    if (stepperDirection == 1){       // set the new stepper position
      stepperPosition+=1;
    }
    else {
      stepperPosition-=1;
    }    
    digitalWrite(step_pin,LOW);      // end of the step
    lastSTEP = ct;              
  }
}
// 
// read modes for the slider
void modes(){  
    mode = 0;  // clear Mode
    if (freeRunLeft_state == LOW){
      mode = 1;  // free run left
      digitalWrite(dir_pin,LOW);
    }
    if (freeRunRight_state == LOW){
      mode = 2;  // free run right
      digitalWrite(dir_pin,HIGH);
    }  
    if (gotoP1_state == LOW && stepperPositionP1 != 0){
      mode = 3;  // goto Position 1 if position is saved
      digitalWrite(dir_pin,LOW);

    }  
    if (gotoP2_state == LOW && stepperPositionP2 != 0){
      mode = 4;  // goto Position 2 if position is saved
      digitalWrite(dir_pin,HIGH);
    }
  if (ct - lastMODES > 100000){
    // MODE

    // SPEED
    speedMode = 0;    // clear the speed mode
    if (speedX01_state == LOW){
      speedMode = 1;  // set the speed mode to /10
    }
    if (speedX10_state == LOW){
      speedMode = 2;  // set the speed mode to *10
    }

    // switch the LEDs
    switch (mode){
      // none
    case 0:
      digitalWrite(freeRunLeft_led,LOW);
      digitalWrite(freeRunRight_led,LOW);
      digitalWrite(gotoP1_led,LOW);
      digitalWrite(gotoP2_led,LOW);
      stepperDirection = 0;
      break;
    case 1:
      digitalWrite(freeRunLeft_led,HIGH);
      digitalWrite(freeRunRight_led,LOW);
      digitalWrite(gotoP1_led,LOW);
      digitalWrite(gotoP2_led,LOW);
      stepperDirection = 0;
      LCDmode = 3;
      break;
    case 2:
      digitalWrite(freeRunLeft_led,LOW);
      digitalWrite(freeRunRight_led,HIGH);
      digitalWrite(gotoP1_led,LOW);
      digitalWrite(gotoP2_led,LOW);
      stepperDirection = 1;
      LCDmode = 3;
      break;  
    case 3:
      digitalWrite(freeRunLeft_led,LOW);
      digitalWrite(freeRunRight_led,LOW);
      digitalWrite(gotoP1_led,HIGH);
      digitalWrite(gotoP2_led,LOW);
      stepperDirection = 0;
      LCDmode = 4;
      break;  
    case 4:
      digitalWrite(freeRunLeft_led,LOW);
      digitalWrite(freeRunRight_led,LOW);
      digitalWrite(gotoP1_led,LOW);
      digitalWrite(gotoP2_led,HIGH);
      stepperDirection = 1;
      LCDmode = 4;
      break;  
    }
    switch (speedMode){
    case 0:
      digitalWrite(speedX01_led,LOW);
      digitalWrite(speedX10_led,LOW);
      stepperSpeed = speed_value;
      break; 
    case 1:
      digitalWrite(speedX01_led,HIGH);
      digitalWrite(speedX10_led,LOW);
      if (speed_value>1){
        stepperSpeed = speed_value * 10; // recalculate the speed mode * 10
      }
      break; 
    case 2:
      digitalWrite(speedX01_led,LOW);
      digitalWrite(speedX10_led,HIGH);
      stepperSpeed = speed_value / 10; // recalculate the speed mode / 10
      break; 
    }

    // Position save
    if (setP1_state == LOW)
    {
      stepperPositionP1 = stepperPosition;
      a = "Position 1:";
      b = stepperPositionP1;
      digitalWrite(p1_led,HIGH);
    }
    if (setP2_state == LOW)
    {
      stepperPositionP2 = stepperPosition;
      c = "Position 2:";
      d = stepperPositionP2;
      digitalWrite(p2_led,HIGH);
    }
    if (clear_state == LOW)
    {
      stepperPositionP1 = 0;
      stepperPositionP2 = 0;
      digitalWrite(p1_led,LOW);
      digitalWrite(p2_led,LOW);
    }
    lastMODES = ct;
  }
}
void buttons(){
//  if (ct - lastBUTTONS > 20000){
    freeRunLeft_state = digitalRead(freeRunLeft_btn);
    freeRunRight_state = digitalRead(freeRunRight_btn);
    gotoP1_state = digitalRead(gotoP1_btn);
    gotoP2_state = digitalRead(gotoP2_btn);
    if (mode == 0){
    // read the button pins
      clear_state = digitalRead(clear_btn);
      dampingLeft_state = digitalRead(dampingLeft_btn);
      dampingRight_state = digitalRead(dampingRight_btn);
      setP1_state = digitalRead(setP1_btn);
      setP2_state = digitalRead(setP2_btn);
      speedX01_state = digitalRead(speedX01_btn);
      speedX10_state = digitalRead(speedX10_btn);
      speed_value = analogRead(speed_pin);
      damping_value = analogRead(damping_pin);
      }
    lastBUTTONS = ct;
//  }
}
void anzeige(){   
  if (ct - lastRESET > 1000000 && mode == 0){ // currentTime - lastResetOfLCD > DELAY 
    if (a!=lastA || b!=lastB || c!=lastC || d!=lastD){        
      
      int aLength = a.length();
      int bLength = b.length();
      int cLength = c.length();
      int dLength = d.length();
      
      int abSpace = 16 - (aLength + bLength);
      int cdSpace = 16 - (cLength + dLength);
      
      String ax = "";
      for (int i=0;i<abSpace;i++){
        ax += " ";
      }
      String cx = "";
      for (int i=0;i<cdSpace;i++){
        cx += " ";
      }      
      lcd.setCursor(0, 0);
      lcd.print(a+ax+b);

      lcd.setCursor(0, 1);
      lcd.print(c+cx+d);

      lastA = a;
      lastB = b;
      lastC = c;
      lastD = d;  
      lastRESET = ct;
    }
  }
}

// Firmware 0.3.0beta
// This is the Firmware of the DIY camSlider 
// for a detailed description of the Slider visit http://www.stefankohler.de
//
// Copyright (C) 2011 Stefan Kohler
//
// If you have any questions or some ideas to improve the code, please write to info(at)stefankohler.de
//
// Use this code at your own risk.

#include <Wire.h>
#include <LiquidCrystal_I2C.h> 
LiquidCrystal_I2C lcd(0x27,16,2);

// ############### userdefined VARIABLES ###############
// you may have to change these settings, depending on you Motor and DC-Voltage
int speed_factor = 70;   // this is the gerneal speed-factor. higher = slower movements; range about 50 to 200 

int brightness = 50;     // sets the brightness of the LED's, usable range 1 - 255

// Maximum and Minimus values, used for mapping the Speed-Poti
int max_speed = 2000;
int min_speed = 200;

// ############### don't change anything beyond this point ###############
// display variables and splash-screen
String a = "CamSlider";
String b = "c2011";
String c = "Firmware";
String d = "0.3.0b";
String lastA = "";
String lastB = "";
String lastC = "";
String lastD = "";

// the Pins used on the Arduino Mega
// all buttons and switches are labeled in the namespace *_btn, for LED's i used *_led outputs for the easyDriver are labeled as *_pi
const int clear_btn = 33;      
const int dampingLeft_btn = 47;
const int dampingLeft_led = 7; 
const int dampingRight_btn = 53;
const int dampingRight_led = 6; 
const int damping_pin = A2;
const int dir_pin = 52;               
const int freeRunLeft_btn = 45;
const int freeRunLeft_led = 12;
const int freeRunRight_btn = 43;
const int freeRunRight_led = 13;
const int gotoP1_btn = 41;
const int gotoP1_led = 4;
const int gotoP2_btn = 49;
const int gotoP2_led = 5;
const int ms1_pin = 48;
const int ms2_pin = 46;
const int p1_led = 9;
const int p2_led = 11;
const int setP1_btn = 39;
const int setP2_btn = 37;
const int speed_pin = A1;
const int speedX01_btn = 51;
const int speedX01_led = 2;
const int speedX10_led = 3;
const int speedX10_btn = 35;
const int step_pin = 50;           
const int stopLeft_led = 8;
const int stopRight_led = 10;
const int temp_pin = A0;

// initiate the variables for the states of the buttons
int clear_state = 0;
int dampingLeft_state = 0;
int dampingRight_state = 0;
int freeRunLeft_state = 0;
int freeRunRight_state = 0;
int gotoP1_state = 0;
int gotoP2_state = 0;
int setP1_state = 0;
int setP2_state = 0;
int speedX01_state = 0;
int speedX10_state = 0;
int mode = 0;
int LCDmode = 0;
int dampingMode = 0;
int speedMode = 0;

// values
unsigned long speed_value = 1;
unsigned long speed_value_pin = 1;
int damping_value = 1;
int temp_value = 0;
unsigned long stepperSpeed = 0;
int time_value = 0;

// timer variables
unsigned long ct = 0;  // current Time
unsigned long lt = 0;  // last timer
unsigned long lastRESET = 500000;
unsigned long lastBUTTONS = 0;
unsigned long lastMODES = 0;
unsigned long lastTEMPERATURE = 0;
unsigned long lastSTEP = 0;
long stepperPosition = 8100;
long stepperPositionP1 = 0;
long stepperPositionP2 = 0;
long stepperDirection = 0;
int tempI = 0;


// ############### TEMPORARY VARIABLES ##############
int tempTEMP = 0;
// ############### SETUP ###############
void setup() {
Serial.begin(9600);
  pinMode(clear_btn,INPUT);
  pinMode(dampingLeft_btn,INPUT);
  pinMode(dampingLeft_led,OUTPUT);
  pinMode(dampingRight_btn,INPUT);
  pinMode(dampingRight_led,OUTPUT);
  pinMode(dir_pin,OUTPUT);
  pinMode(freeRunLeft_btn,INPUT);
  pinMode(freeRunLeft_led,OUTPUT);
  pinMode(freeRunRight_btn,INPUT);
  pinMode(freeRunRight_led,OUTPUT);
  pinMode(gotoP1_led,OUTPUT);
  pinMode(gotoP2_btn,INPUT);
  pinMode(gotoP2_led,OUTPUT);
  pinMode(ms1_pin,OUTPUT);
  pinMode(ms2_pin,OUTPUT);
  pinMode(p1_led,OUTPUT);
  pinMode(p2_led,OUTPUT);
  pinMode(setP1_btn,INPUT);
  pinMode(setP2_btn,INPUT);
  pinMode(speedX01_btn,INPUT);
  pinMode(speedX01_led,OUTPUT);
  pinMode(speedX10_btn,INPUT);
  pinMode(speedX10_led,OUTPUT);
  pinMode(step_pin,OUTPUT);
  pinMode(stopLeft_led,OUTPUT);
  pinMode(stopRight_led,OUTPUT);

  digitalWrite(ms1_pin,LOW);
  digitalWrite(ms2_pin,HIGH);
  digitalWrite(dir_pin,LOW);
  digitalWrite(step_pin,LOW);

  lcd.init();                // initialize the lcd 
  lcd.backlight();           // switch on backlight 
  anzeige();                 // refresh display
  delay(4000);              // show splashscreen
  digitalWrite(stopLeft_led,HIGH);
  delay(50);
  digitalWrite(stopLeft_led,LOW);
  digitalWrite(stopRight_led,HIGH);
  delay(50);
  digitalWrite(stopRight_led,LOW);
  digitalWrite(p1_led,HIGH);
  delay(50);
  digitalWrite(p1_led,LOW);
  digitalWrite(p2_led,HIGH);
  delay(50);
  digitalWrite(p2_led,LOW);
  digitalWrite(freeRunLeft_led,HIGH);
  delay(50);
  digitalWrite(freeRunLeft_led,LOW);
  digitalWrite(freeRunRight_led,HIGH);
  delay(50);
  digitalWrite(freeRunRight_led,LOW);
  digitalWrite(speedX01_led,HIGH);
  delay(50);
  digitalWrite(speedX01_led,LOW);
  digitalWrite(speedX10_led,HIGH);
  delay(50);
  digitalWrite(speedX10_led,LOW);
  digitalWrite(dampingLeft_led,HIGH);
  delay(50);
  digitalWrite(dampingLeft_led,LOW);
  digitalWrite(dampingRight_led,HIGH);
  delay(50);
  digitalWrite(dampingRight_led,LOW);
  digitalWrite(gotoP1_led,HIGH);
  delay(50);
  digitalWrite(gotoP1_led,LOW);
  digitalWrite(gotoP2_led,HIGH);
  delay(50);
  digitalWrite(gotoP2_led,LOW);
}
  
// ############################# MAIN LOOP #########################
void loop() {
  ct = micros();   // sets the current Time for timing events
  anzeige();      // refresh display
  buttons();      // read the buttons
  modes();        // set modes for slide
  stepperSpeed = speed_value * speed_factor;  // recalculate the speedvalue
  if (mode == 0){
     temperature();  // read the temperature
     a="Position:";
     b= stepperPosition;
     c="Temperature:";
     d = temp_value;
  }
  if (mode == 1 || mode == 2){    // if the mode is FreeRun
    runStepperFree();             // call the routine to drive
  }
  if (mode == 3 || mode == 4){    // if the mode is GotoPosition
    runStepperPos();              // call the routine to drive
  }
}


// ############### FUNKTIONEN ###############
void runStepperPos(){ // gotoPosition
  if (ct - lastSTEP > stepperSpeed00000000000,){ 
    // drive left
    if (stepperPosition > stepperPositionP1 && stepperDirection == 0){       
      digitalWrite(step_pin,HIGH);      // make a step
      delayMicroseconds(799);           // wait for some time
      stepperPosition-=1;          
      digitalWrite(step_pin,LOW);       // end of the step
    }
    // nach rechts
    if (stepperPosition < stepperPositionP2 && stepperDirection == 1){       
      digitalWrite(step_pin,HIGH);      // make a step
      delayMicroseconds(799);           // wait for some time
      stepperPosition+=1;
      digitalWrite(step_pin,LOW);      // end of the step
    }
    lastSTEP = ct;              
  }
}
void runStepperFree(){ // freeRun
  if (ct - lastSTEP > stepperSpeed && stepperPosition > 0){ 
    digitalWrite(step_pin,HIGH);      // make a step
    delayMicroseconds(800);           // keep the pin HIGH for 800icroseconds
    if (stepperDirection == 1){       // set the new stepper position
      stepperPosition+=1;
    }
    else {
      stepperPosition-=1;
    }    
    digitalWrite(step_pin,LOW);      // end of the step
    lastSTEP = ct;              
  }
}
// read Temperature 
void temperature(){
  if (ct - lastTEMPERATURE > 2000000){
    for (tempI = 0 ; tempI < 5 ; tempI++){  // read the temperature pin 5 times
      tempTEMP = tempTEMP + analogRead(temp_pin);
    }
    temp_value = tempTEMP / 5 / 2;
    tempTEMP = 0;
    lastTEMPERATURE = ct;
  }
}
// read modes for the slider
void modes(){  
  if (ct - lastMODES > 100000){
    // MODE
    mode = 0;  // clear Mode
    if (freeRunLeft_state == LOW){
      mode = 1;  // free run left
      digitalWrite(dir_pin,HIGH);
    }
    if (freeRunRight_state == LOW){
      mode = 2;  // free run right
      digitalWrite(dir_pin,LOW);
    }  
    if (gotoP1_state == LOW && stepperPositionP1 != 0){
      mode = 3;  // goto Position 1 if position is saved
      digitalWrite(dir_pin,HIGH);

    }  
    if (gotoP2_state == LOW && stepperPositionP2 != 0){
      mode = 4;  // goto Position 2 if position is saved
      digitalWrite(dir_pin,LOW);
    }
    // DAMPING
    dampingMode = 0;    // set the damping to both sides
    if (dampingLeft_state == LOW){
      dampingMode = 1;  // set the daping mode to "only left"
    }
    if (dampingRight_state == LOW){
      dampingMode = 2; // set the damping mode to "only right
    }
    // SPEED
    speedMode = 0;    // clear the speed mode
    if (speedX01_state == LOW){
      speedMode = 1;  // set the speed mode to /10
    }
    if (speedX10_state == LOW){
      speedMode = 2;  // set the speed mode to *10
    }

    // switch the LEDs
    switch (mode){
    case 0:
      digitalWrite(freeRunLeft_led,LOW);
      digitalWrite(freeRunRight_led,LOW);
      digitalWrite(gotoP1_led,LOW);
      digitalWrite(gotoP2_led,LOW);
      stepperDirection = 0;
      break;
    case 1:
      analogWrite(freeRunLeft_led,brightness);
      digitalWrite(freeRunRight_led,LOW);
      digitalWrite(gotoP1_led,LOW);
      digitalWrite(gotoP2_led,LOW);
      stepperDirection = 0;
      break;
    case 2:
      digitalWrite(freeRunLeft_led,LOW);
      analogWrite(freeRunRight_led,brightness);
      digitalWrite(gotoP1_led,LOW);
      digitalWrite(gotoP2_led,LOW);
      stepperDirection = 1;
      break;  
    case 3:
      digitalWrite(freeRunLeft_led,LOW);
      digitalWrite(freeRunRight_led,LOW);
      analogWrite(gotoP1_led,brightness);
      digitalWrite(gotoP2_led,LOW);
      stepperDirection = 0;
      break;  
    case 4:
      digitalWrite(freeRunLeft_led,LOW);
      digitalWrite(freeRunRight_led,LOW);
      digitalWrite(gotoP1_led,LOW);
      analogWrite(gotoP2_led,brightness);
      stepperDirection = 1;
      break;  
    }
    switch (speedMode){
    case 0:
      digitalWrite(speedX01_led,LOW);
      digitalWrite(speedX10_led,LOW);
      break; 
    case 1:
      analogWrite(speedX01_led,brightness);
      digitalWrite(speedX10_led,LOW);
      if (speed_value>1){
        speed_value = speed_value * 10; // recalculate the speed mode * 10
      }
      break; 
    case 2:
      digitalWrite(speedX01_led,LOW);
      analogWrite(speedX10_led,brightness);
      speed_value = speed_value / 10; // recalculate the speed mode / 10
      break; 
    }

    switch (dampingMode){
    case 0:
      analogWrite(dampingLeft_led,brightness);
      analogWrite(dampingRight_led,brightness);
      break; 
    case 1:
      analogWrite(dampingLeft_led,brightness);
      digitalWrite(dampingRight_led,LOW);
      break; 
    case 2:
      digitalWrite(dampingLeft_led,LOW);
      analogWrite(dampingRight_led,brightness);
      break; 
    }    
    // Position save
    if (setP1_state == LOW)
    {  
        stepperPositionP1 = stepperPosition;
        anzeige2s("Position 1:",stepperPosition,"","");
        digitalWrite(p1_led,HIGH);
    }
    if (setP2_state == LOW)
    {
        stepperPositionP2 = stepperPosition;
        anzeige2s("Position 2:",stepperPosition,"","");
        digitalWrite(p2_led,HIGH);
    }
    if (clear_state == LOW)
    {
      if (stepperPositionP1 != 0 || stepperPositionP2 != 0)
        {
        anzeige2s("Position","cleared","","");
        }
      stepperPositionP1 = 0;
      stepperPositionP2 = 0;
      digitalWrite(p1_led,LOW);
      digitalWrite(p2_led,LOW);
    }
    lastMODES = ct;
  }
}
void buttons(){
  if (ct - lastBUTTONS > 100000){
    // read the button pins
    clear_state = digitalRead(clear_btn);
    dampingLeft_state = digitalRead(dampingLeft_btn);
    dampingRight_state = digitalRead(dampingRight_btn);
    freeRunLeft_state = digitalRead(freeRunLeft_btn);
    freeRunRight_state = digitalRead(freeRunRight_btn);
    gotoP1_state = digitalRead(gotoP1_btn);
    gotoP2_state = digitalRead(gotoP2_btn);
    setP1_state = digitalRead(setP1_btn);
    setP2_state = digitalRead(setP2_btn);
    speedX01_state = digitalRead(speedX01_btn);
    speedX10_state = digitalRead(speedX10_btn);
    if (mode == 0)
      {
      speed_value_pin = map(analogRead(speed_pin),0,1023,min_speed,max_speed);  
      damping_value = map(analogRead(damping_pin),0,1023,1,1000);
      }
    speed_value = speed_value_pin;
    lastBUTTONS = ct;
  }
}
void anzeige(){   
  if (ct - lastRESET > 200000 && mode == 0){ // currentTime - lastResetOfLCD > DELAY 
    if (a!=lastA || b!=lastB || c!=lastC || d!=lastD || LCDmode == 1){        
      
      int aLength = a.length();
      int bLength = b.length();
      int cLength = c.length();
      int dLength = d.length();
      
      int abSpace = 16 - (aLength + bLength);
      int cdSpace = 16 - (cLength + dLength);
      
      String ax = "";
      for (int i=0;i<abSpace;i++){
        ax += " ";
      }
      String cx = "";
      for (int i=0;i<cdSpace;i++){
        cx += " ";
      }      
      
      lcd.setCursor(0, 0);
      lcd.print(a+ax+b);

      lcd.setCursor(0, 1);
      lcd.print(c+cx+d);
      
      lastA = a;
      lastB = b;
      lastC = c;
      lastD = d;  
      lastRESET = ct;
            
      LCDmode=0;      
    }
  }
}
void anzeige2s(String a2,String b2,String c2,String d2){   
      int aLength = a2.length();
      int bLength = b2.length();
      int cLength = c2.length();
      int dLength = d2.length();
      
      int abSpace = 16 - (aLength + bLength);
      int cdSpace = 16 - (cLength + dLength);
      
      String ax = "";
      for (int i=0;i<abSpace;i++){
        ax += " ";
      }
      String cx = "";
      for (int i=0;i<cdSpace;i++){
        cx += " ";
      }      
      
      lcd.setCursor(0, 0);
      lcd.print(a2+ax+b2);

      lcd.setCursor(0, 1);
      lcd.print(c2+cx+d2);
      delay(1000);
      LCDmode=1;    
}