complete_code_2_switches

#include <Servo.h> 
#define dirPin 8
#define stepPin 9
int servoPin = 10; 
Servo Servo1; 
int switch1 = 3;      //switch at the first apple
int switch2 = 4;      //switch at the delivery
int pb1 = 5;          //push button for apple 1
int pb2 = 6;          //push button for apple 2
int pb3 = 7;          //push button for apple 3
#define delay1 5
int angle_down = 180; //down angle for servo
int angle_up = 80;    //top angle for servo
int n1 = 415;         //steps to reach second position
int n2 = 842;         // to reach third position



void setup() {
  // Declare pins as output:
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  Servo1.attach(servoPin); 
  pinMode(switch1, INPUT); 
  pinMode(switch2, INPUT); 
  pinMode(pb1, INPUT); 
  pinMode(pb2, INPUT); 
  pinMode(pb3, INPUT); 
  Servo1.write(180);
}

void loop() {
  delay(1000);
  if( (digitalRead(pb1) == HIGH)) //if first button is pushed
  {
    move_servoup(angle_up);       //put the arm vertically
    move_stepper2(switch2, LOW);  //move toward the delivery place
    deliver();                    //put the arm down
    reset(0);                     //Go back to the initial position
  }

  else if( (digitalRead(pb2) == HIGH) ) //if second button is pushed
  {
    move_stepper1(n1, LOW);     //Go to the second apple place
    move_servoup(angle_up);     //put the arm vertically
    move_stepper2(switch2,LOW); //move toward the delivery place
    deliver();                  //put the arm down
    reset(n1);                  //Go back to the initial position
  }
    else if( (digitalRead(pb3) == HIGH)) //if third button is pushed
  {
    move_stepper1(n2, LOW);     //Go to the third apple place
    move_servoup(angle_up);     //put the arm vertically
    move_stepper2(switch2,LOW); //move toward the delivery place
    deliver();                  //put the arm down
    reset(n2);                  //Go back to the initial position
  }
  else{delay(1000);}
  delay(100);

  }

  void move_stepper1(int n, bool dir) { //For moving the stepper motor of n steps in dir direction
    digitalWrite(dirPin, dir);          //set the direction accordingly to the variable dir

    for(int i =0; i<n ; i++){           //Do n steps
      digitalWrite(stepPin, HIGH);      //The 4 lines results in 1 step
      delay(delay1);
      digitalWrite(stepPin, LOW);
      delay(delay1);
      }
    
    }


  void move_stepper2(int Lswitch, bool dir) { //For moving the stepper motor untill a switch is activated
    digitalWrite(dirPin, dir);                //set the direction accordingly to the variable dir

    while(digitalRead(Lswitch) == LOW){       //Make 1 extra step as long as the selected switch isn't pushed.
      digitalWrite(stepPin, HIGH);            //The 4 lines results in 1 step
      delay(delay1);
      digitalWrite(stepPin, LOW);
      delay(delay1);
      }
    
    }

  void move_servoup(int angle) {                      //To move the servo motor vertically
      for ( angle = 180; angle >= 80; angle -= 1) {   //Do 1° each time to be able to introduce a delay to control the speed of the process
        Servo1.write(angle);                          //Put the servo to the desired angle
        delay(50);                                    //wait a bit
        angle = angle-1;                              //indicate to the for loop where we are in the motion
      
    }}
    
  void move_servodown(int angle) {                    //To move the servo motor vertically
      for ( angle = 80; angle <= 180; angle += 1) {   //Do 1° each time to be able to introduce a delay to control the speed of the process
        Servo1.write(angle);                          //Put the servo to the desired angle
        delay(50);                                    //wait a bit
        angle = angle+1;                              //indicate to the for loop where we are in the motion
      
    }
    delay(1000);
    }

  void deliver() {                //put the arm down
    move_servodown(angle_down);
    }
    
  void reset(int n) {           //Go from the delivery place to the initial position
    move_servoup(angle_up);     //put the arm vertically
    move_stepper2(3,HIGH);      //Go to the opposite side as the first switch doesn't work
    move_stepper1(n,LOW);       //Go to the place where the apple has been taken
    move_servodown(angle_down); //Put the arm down
    move_stepper2(3,HIGH);      //Go back to the initial position, where the broken switch should be
      }