//----------------------------------------------------------------------
// https://github.com/clearwater/SwitecX25
// 
// This is an example of using the SwitchX25 library.
// It zero's the motor, sets the position to mid-range
// and waits for serial input to indicate new motor positions.
// 
// Open the serial monitor and try entering values 
// between 0 and 944.
// 
// Note that the maximum speed of the motor will be determined
// by how frequently you call update().  If you put a big slow
// serial.println() call in the loop below, the motor will move
// very slowly!
//----------------------------------------------------------------------

#include <SwitecX25.h>

// standard X25.168 range 315 degrees at 1/3 degree steps
#define STEPS (315*3)

// For motors connected to digital pins 4,5,6,7
SwitecX25 motor1(STEPS,4,5,6,7);

void setup(void)
{
  // run the motor against the stops
  motor1.zero();
  // start moving towards the center of the range
  motor1.setPosition(STEPS/2);
}

uint64_t start;

void loop(void)
{
  start = millis();
  motor1.setPosition(0);
  while (millis() - start < 500) {
    motor1.update();
  }

  start = millis();
  motor1.setPosition(944);
  while (millis() - start < 500) {
    motor1.update();
  }

}