#include <Encoder.h>

const int motorControlPin = 9; // Pin to control the TIP120 transistor
const int enableMotorPin = 10; // Pin to enable the motor

// Define the pins for limit switches
const int switch1Pin = 2; // Pin for the first limit switch
const int switch2Pin = 3; // Pin for the second limit switch
const int switch3Pin = 4; // Pin for the third limit switch
const int switch4Pin = 5; // Pin for the fourth limit switch

Encoder myEnc(6, 7);
bool motorRunning = false;

int newPosition = 0;

void setup() {
  Serial.begin(9600);
  pinMode(motorControlPin, OUTPUT);
  pinMode(enableMotorPin, OUTPUT);
  pinMode(switch1Pin, INPUT_PULLUP);
  pinMode(switch2Pin, INPUT_PULLUP);
  pinMode(switch3Pin, INPUT_PULLUP);
  pinMode(switch4Pin, INPUT_PULLUP);
}



void stopMotor() {
  digitalWrite(motorControlPin, LOW); // Turn off the motor
  motorRunning = false;
}

void loop() {
  long newPosition = myEnc.read();
  Serial.println(newPosition);
  digitalRead(switch1Pin);
 // int potValue = analogRead(A0); // Read the potentiometer value
  if (newPosition >119 || newPosition >0){
  newPosition = 0;}
  
  else if (newPosition == 0) {
    stopMotor();
    }
  else if (newPosition > 0 && newPosition <= 29){
    
    if (switch1Pin == HIGH)
    stopMotor();
  }
  }