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#include <Stepper.h>

const int stepsPerRevolution = 20;  

// initialize the stepper library on pins 2 through 5:
Stepper myStepper(stepsPerRevolution, 2, 3, 4, 5);

// PWM output
unsigned long currentm;
unsigned long previousm;
unsigned long elapsedm;
unsigned long Period = 496; // overall period
// pick the high time, calculate the low time from what's left
unsigned long highPeriod = 200; // microseconds, x 2 = 10mS = 100 Hz
// probably best if times are increments of 4uS to match up with micros()
unsigned long lowPeriod; // microseconds,  set to = Period - highPeriod in setup()

byte highTime;
int pulseMode = 1;

void setup() {
  // set the speed at 60 rpm:
  myStepper.setSpeed(60);
  
  // initialize the serial port:
  Serial.begin(115200);
  
  pinMode(10, OUTPUT);
  pinMode(11, OUTPUT);
  pinMode(22, OUTPUT);
  
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
  digitalWrite(22, HIGH);

  // test signal on B4
  currentm = millis();
  previousm = currentm;
  lowPeriod = Period - highPeriod;
}

void loop() {
  if (pulseMode == 1) {
    // send 2Hz to B4
    currentm = millis();
    elapsedm = currentm - previousm;
    if (highTime == 1 && elapsedm >= highPeriod) {
      digitalWrite(22, LOW);
      previousm = previousm + highPeriod;
      highTime = 0;
    } else if (highTime == 0 && elapsedm >= lowPeriod) {
      digitalWrite(22, HIGH);
      previousm = previousm + lowPeriod;
      highTime = 1;
    }
  }

  if (Serial.available() > 0) 
  {
    char incomingByte = Serial.read(); // read the incoming byte:
    Serial.print("\nI received: ");
    Serial.println(incomingByte);
    clearCRLF();
    switch (incomingByte) {
      case 'q':   
          // step one revolution  in one direction:
          Serial.println("clockwise");
          myStepper.step(stepsPerRevolution);
        break;
      case 'w':
          // step one revolution in the other direction:
          Serial.println("counterclockwise");
          myStepper.step(-stepsPerRevolution);
        break;
      case '1':
          digitalWrite(10, LOW);
          digitalWrite(11, LOW);
        break; 
      case '2':
          digitalWrite(10, HIGH);
          digitalWrite(11, LOW);
        break; 
      case '3':
          digitalWrite(10, HIGH);
          digitalWrite(11, HIGH);
        break;    
      case 'b':
          digitalWrite(22, LOW);
          pulseMode = 0;
         break;
      case 'n':  
          pulseMode = 1;
          currentm = millis();
          previousm = currentm;
          lowPeriod = Period - highPeriod;
         break;
      case 'm':
          digitalWrite(22, HIGH);
          pulseMode = 2;
        break;       
        
    }
  }
}

void clearCRLF() {
  char ch;
  delay(10);
  if (Serial.available() >0 )
  {
    ch=Serial.peek();
    if ((ch == '\n') || (ch == '\r')) {
      Serial.flush();
      Serial.read();
      clearCRLF();
    }
  }
}