// Using the AccelStepper library.
// AccelStepper: https://www.airspayce.com/mikem/arduino/AccelStepper/
//               Copyright (C) 2009 Mike McCauley
//

#include <AccelStepper.h>

// Define the objects with pin numbers
AccelStepper stepper[10] =
{
  AccelStepper(AccelStepper::DRIVER, 0, 1),
  AccelStepper(AccelStepper::DRIVER, 2, 3),
  AccelStepper(AccelStepper::DRIVER, 4, 5),
  AccelStepper(AccelStepper::DRIVER, 6, 7),
  AccelStepper(AccelStepper::DRIVER, 8, 9),
  AccelStepper(AccelStepper::DRIVER, 10, 11),
  AccelStepper(AccelStepper::DRIVER, 12, 13),
  AccelStepper(AccelStepper::DRIVER, A5, A4),
  AccelStepper(AccelStepper::DRIVER, A3, A2),
  AccelStepper(AccelStepper::DRIVER, A1, A0),
};

unsigned long previousMillis;
const unsigned long interval = 1000UL;

void setup()
{  
  // Set limits for the stepper motors.
  for( int i=0; i<10; i++)
  {
    stepper[i].setMaxSpeed(200.0);
    stepper[i].setAcceleration(100.0);
  }

  // Move all the steppers to a certain position
  // The steppers will only move with the .run() call,
  // so these are just initial values.
  for( int i=0; i<10; i++)
  {
    stepper[i].moveTo(i * 100);
  }
}

void loop()
{
  unsigned long currentMillis = millis();
  if( currentMillis - previousMillis >= interval)
  {
    previousMillis = currentMillis;

    // random move a random stepper to a random position
    int i = random(0, 11);
    long steps = random(-100,100);
    stepper[i].move(steps);
  }

  // The library needs to update the steppers as many times as possible.
  for( int i=0; i<10; i++)
  {
    stepper[i].run();
  }
}