draw lines controlling direction with rotary encoder

gistfile1.txt

#include<AccelStepper.h>
#include <MultiStepper.h>
#include <Servo.h>
#include <Rotary.h>


#include <Wire.h>

Servo servo1;
Servo servo2;
Servo servo3;


MultiStepper steppers;


Rotary rotary = Rotary(18,19);

const int analogInPin1 = A1;  // Analog input pin that the potentiometer is attached to
const int analogInPin2 = A2;  // Analog input pin that the potentiometer is attached to
int sensorValue1 = 0;        // value read from the pot
int sensorValue2 = 0;        // value read from the pot
int outputValue1 = 0;        // value output to the PWM (analog out)
int outputValue2 = 0;        // value output to the PWM (analog out)

AccelStepper stepper1(1, 2, 3);
AccelStepper stepper2(1, 10, 11);

//AccelStepper stepper1(1,2,3);   //set up the accelStepper intance, the "1" tells it we are using a driver
//AccelStepper stepper2(1,10,11);
AccelStepper stepper3(1, 5, 6);
volatile int state = LOW;
int stepper1TotalSteps = 0;
int stepper2TotalSteps = 0;
int stepper1Steps;
int stepper2Steps;

int POTs;
int POTu;
int POTt;
int POTv;
int voltageS = A13;
int voltageT = A12;
float voltageU = A11;
float voltageV = A10;
float previousVoltageV;
int voltageQ = A3;
int i = 0;
int pos = 130;
int currentpos = 0;
int pos1 = random(1000, 13000);
int pos2 = random(1000, 13000);

int xx;
int yy;

long positions[2];


int x, y;
float point1,point2;
int length = random(300, 1000);
//float angle = 0.0;
float angle = 0.0;
// float angle_stepsize = PI/4;
float angle_stepsize = 0.08;

/// float angle = PI/2;
// float angle_stepsize = PI/6;

int anglef1;
float anglef2;
int angle3;
float anglef3;
int newAngle;
float  newAnglef;
int newLength = 70;

int x2;
int y2;
int ppp, qqq;
int xxx, yyy;
float incr1,incr2;
int counter = 0;
float g = counter *.26;
float P1x;
float P1y;
float P2x;
float P2y;
int centerX = 0;
int centerY = 0;

void setup()
{

  Serial.begin(9600);

  pinMode(9, INPUT_PULLUP);


  pinMode (A13, INPUT);
  pinMode (A12, INPUT);
  pinMode (A11, INPUT);
  pinMode (A10, INPUT);
  pinMode (A3, INPUT);

  pinMode (A5, INPUT_PULLUP);
  servo1.attach(8);//paint
  servo1.write(90);
  servo2.attach(9);//trigger
  servo2.write(165);

  attachInterrupt(4, rotate, CHANGE);//0 on uno
  attachInterrupt(5, rotate, CHANGE);//1 on uno




  stepper1.setMaxSpeed(800);
  stepper1.setAcceleration(1000);


  stepper2.setMaxSpeed(800);
  stepper2.setAcceleration(1000);


  stepper3.setMaxSpeed(2000);
  stepper3.setAcceleration(2000);





  steppers.addStepper(stepper1);
  steppers.addStepper(stepper2);





}

void loop()
{
  unsigned long seed = seedOut(31);
  randomSeed(seed);
  delay(2000);

  voltageQ = analogRead(A3); 
  voltageQ = map(voltageQ, 0, 1023, 500, 2000); //speed
  int speed1 = voltageQ;
  stepper1.setMaxSpeed(speed1);
  stepper2.setMaxSpeed(speed1);

  s1up();
  float newAngle;
  newAngle = counter;
  float previousAngle = newAngle;

  for (i = 0; i < 1000; i ++)
  {
    voltageQ = analogRead(A3); 
    voltageQ = map(voltageQ, 0, 1023, 500, 2000); //speed
    int speed1 = voltageQ;
    stepper1.setMaxSpeed(speed1);
    stepper2.setMaxSpeed(speed1);



    newAngle = counter *.13;
    Serial.print("previousAngle");Serial.println(previousAngle);
    Serial.print("newAngle");Serial.println(newAngle);
    voltageQ = analogRead(A3); 
    voltageQ = map(voltageQ, 0, 1023, 500, 2000);


    int radius = 500;

    stepper3.setMaxSpeed(1000);

    if( newAngle > previousAngle  ){ // make a new center x y
      Serial.println("hello1");
      // calcutlate a new center and P1x,P1y. divide it in steps keep P2x, P2y
      // centerX = P2x + radius * cos(newAngle);
      // centerY = P2y + radius * sin(newAngle);

    };


    if( newAngle  < previousAngle ){
      Serial.println("hello2");

      // newAngle = newAngle + 3.14;
      //  centerX = P1x + radius * cos(newAngle);
      // centerY = P1y + radius * sin(newAngle);
      // newAngle = newAngle - 3.14;
    };


    s1up();

    P1x = centerX + radius  * cos(newAngle);  // P1x = x
    P1y = centerY + radius  * sin(newAngle);// P1y = y
    positions[0] =  P1x;        
    positions[1] =  P1y  ;
    steppers.moveTo(positions);
    steppers.runSpeedToPosition();

    s1down();
    newAngle = newAngle + 3.14; 
    P2x = centerX + radius  * cos(newAngle);  
    P2y = centerY + radius * sin(newAngle); 
    positions[0] =  P2x;
    positions[1] =  P2y  ;
    steppers.moveTo(positions);
    steppers.runSpeedToPosition();
    ////////////to get the direction 90 degree from line
    newAngle = newAngle - 1.57; 
    int newRadius = 50;
    centerX = centerX + newRadius * cos(newAngle); 
    centerY = centerY + newRadius * sin(newAngle); 
    newAngle = newAngle - 1.57; 

    /////////////////////////////////////
    previousAngle = newAngle;



  }
}
////////////////////////////////////////////////////////////////////////
 void rotate() {
  unsigned char result = rotary.process();
  if (result == DIR_CW) {
    counter++;
   // Serial.println(counter);
  } else if (result == DIR_CCW) {
    counter--;
   // Serial.println(counter);
  }
}