#include <M5Stack.h>
#define RX_PIN      16
#define TX_PIN      17

#define X_LOCAL 40
#define Y_LOCAL 40

#define X_OFF 160
#define Y_OFF 30

int distance = 0;    //步进电机移动步进值

void header(const char *string, uint16_t color){     //标题
    M5.Lcd.fillScreen(color);
    M5.Lcd.setTextSize(1);
    M5.Lcd.setTextColor(TFT_MAGENTA, TFT_BLUE);
    M5.Lcd.fillRect(0, 0, 320, 30, TFT_BLUE);
    M5.Lcd.setTextDatum(TC_DATUM);
    M5.Lcd.drawString(string, 160, 3, 4);
}

void setup() {
    M5.begin();
    M5.Power.begin();

    header("PUSH 6060", TFT_BLACK);
    M5.Lcd.setTextFont(2);
    M5.Lcd.setTextColor(TFT_WHITE, TFT_BLACK);
    Serial2.begin(9600, SERIAL_8N1, RX_PIN, TX_PIN);  //配置串口2
    delay(500);
    Serial2.print("ID=123\r\n");                     //串口2输出ID=123\r\n,配置6060电机ID为123
}


void loop() {
    if(M5.BtnA.wasPressed()){                      //按键A按下发送ID\r\n,查看6060电机ID
      Serial2.print("ID\r\n");
    }
    if(M5.BtnB.wasPressed()){                      //按键B按下发送ID123:X%d\r\n控制移动绝对行程,其中%d为变量distance
      if(distance < 50){
         distance +=10;
         Serial2.printf("ID123:X%d\r\n",distance);
      }
    }
    if(M5.BtnC.wasPressed()){                      //按键C按下发送ID123Z\r\n,电机回原点
      Serial2.print("ID123Z\r\n");
    }
    if(Serial2.available()){                       //串口2接收6060返回的消息并打印
      char c = Serial2.read();
      Serial.print(c);
    }
    M5.update();
}