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+# Arduino Stepper Motor Controller
+
+A state-machine based Arduino sketch for controlling a 28BYJ-48 stepper motor via Serial communication. The system supports both **Manual** and **Automatic** modes, allowing for relative angle movement, speed control, and configurable wait intervals.
+
+## Hardware Requirements
+- **Microcontroller**: Arduino Uno / Mega / Nano
+- **Motor Driver**: ULN2003 (or compatible)
+- **Stepper Motor**: 28BYJ-48 (or compatible bipolar/unipolar stepper)
+
+### Pin Connections
+| Pin | Function | Arduino Pin |
+|-----|----------|-------------|
+| IN1 | Step 1   | 9           |
+| IN2 | Step 2   | 10          |
+| IN3 | Step 3   | 11          |
+| IN4 | Step 4   | 12          |
+
+## System Configuration
+
+### Constants
+- **STEPS_PER_REVOLUTION**: `2048` (Standard for 28BYJ-48 with gear reduction)
+- **DEGREES_PER_STEP**: Calculated as `360.0 / 2048` (~0.1758°)
+
+### Global Variables
+| Variable | Type | Description |
+|----------|------|-------------|
+| `autoMode` | `enum` | `AUTO` or `MANUAL` |
+| `targetAngle` | `float` | Target angle in degrees (relative to current position) |
+| `turnSpeed` | `float` | Speed in degrees per second |
+| `_currState` | `enum` | `MOVE` or `WAIT` |
+| `waitInterval` | `float` | Time in seconds to wait in `WAIT` state (only active in AUTO mode) |
+| `_waitTime` | `unsigned long` | Timestamp of when WAIT state began |
+| `_stepInterval` | `float` | Time in seconds between individual steps |
+| `_stepTime` | `unsigned long` | Timestamp of the last step |
+| `_stepCount` | `int` | Total steps to move for the current target |
+| `_stepsRemaining` | `int` | Steps remaining in the current move sequence |
+| `_directionCW` | `bool` | `true` for Clockwise, `false` for Counter-Clockwise |
+
+## Serial Command Interface
+
+The controller listens to the Serial port (9600 baud). Commands must start with a letter followed by a value. No spaces are required.
+
+| Command | Format | Description |
+|---------|--------|-------------|
+| **Mode Switch** | `m0` / `m1` | `m0`: Set to **AUTO** (cycles MOVE/WAIT).<br>`m1`: Set to **MANUAL** (moves once, then waits indefinitely). |
+| **Move Angle** | `a<degrees>` | Move `<degrees>` degrees relative to current position. Supports negative values for reverse direction.<br>*Example*: `a90` (move 90° CW), `a-45` (move 45° CCW). |
+| **Set Speed** | `s<speed>` | Set speed in degrees per second.<br>*Example*: `s10` (10 deg/s). |
+| **Set Wait Time** | `i<seconds>` | Set the duration (in seconds) to wait in `WAIT` state when in AUTO mode.<br>*Example*: `i5` (wait 5 seconds). |
+
+## Operational Logic
+
+### State Machine
+The system operates in two primary states:
+
+1.  **MOVE**:
+    - The motor steps at the calculated `_stepInterval`.
+    - `_stepsRemaining` decrements with each step.
+    - When `_stepsRemaining` hits 0, the system transitions to **WAIT**.
+
+2.  **WAIT**:
+    - The motor stops.
+    - `_waitTime` is recorded.
+    - **In AUTO Mode**: If `millis() - _waitTime > waitInterval`, the system transitions back to **MOVE** (repeats cycle).
+    - **In MANUAL Mode**: The system stays in **WAIT** indefinitely until a new Serial command is received.
+
+```cpp
+autoMode        // AUTO or MANUAL. If AUTO, cycles between MOVE and WAIT state. If MANUAL, goes into MOVE state, but stays in WAIT indefinitely until a new command is sent
+targetAngle     // The target angle in degrees, relative to the current position
+turnSpeed       // The turn speed in degrees per second
+
+_currState      // MOVE or WAIT
+
+waitInterval    // Time to stay in wait state in AUTO mode, in seconds
+_waitTime       // Variable to compare against millis()
+
+_stepInterval   // Time between motor steps, in seconds
+_stepTime       // Variable to compare against millis()
+
+_stepCount      // Number of steps remaining
+_stepRemaining  // 
+
+LOOP
+
+--- READ SERIAL ---
+if serial.Available
+
+  string = serial.readString
+
+    switch(string[0])
+
+      case 'm':
+        if autoMode != string[1]
+          autoMode = AUTO if string[1] == 0, MANUAL if string[1] == 1
+          // Start moving following existing parameters, relative to current position
+          _currState = MOVE
+          _waitTime = 0
+          _stepTime = millis()
+          _stepsRemaining = _stepCount
+
+      case 'a':
+        // Move this many degrees relative to current position
+        targetAngle = strToFloat(string[1:])
+        // TODO: Recalculate step count
+        _currState = MOVE
+        _waitTime = 0
+        _stepTime = millis()
+        _stepsRemaining = _stepCount
+
+      case 's':
+        // Sets the step interval
+        turnSpeed = strToFloat(string[1:])
+        // TODO: Recalculate step interval
+
+      case 'i':
+        // Sets the wait interval
+        waitInterval = strToFloat(string[1:])
+
+
+--- Execution Logic ---
+
+if _stepsRemaining == 0
+  _currState = WAIT
+  _waitTime = millis()
+
+if autoMode = AUTO and _currState == WAIT and millis() - _waitTime > waitInterval
+  _currState = MOVE
+  _stepsRemaining = _stepCount
+  _stepTime = millis()
+
+if currState == MOVE
+  if millis() - _stepTime > _stepInterval
+    RunStep
+    _stepTime = millis()
+    _stepsRemaining -= 1
+```
+
+### Initialization
+- **Default Mode**: `AUTO`
+- **Default State**: `MOVE`
+- **Default Wait Interval**: `8.0` seconds
+- **Default Speed**: `5.0` degrees/second
+
+## Step Sequence Logic
+
+The controller supports bidirectional movement by using two sequences:
+- **Clockwise (CW)**: Standard 4-step sequence.
+- **Counter-Clockwise (CCW)**: Reverse of the CW sequence.
+
+The direction is determined by the sign of the `targetAngle` when the `a` command is received.
+
+## Usage Examples
+
+1. **Move 90 degrees clockwise at 10 deg/s**:
+   ```text
+   s10
+   a90