// TEST OF ACCELSTEPPER LIBRARY
 
#include <AccelStepper.h>
 
// Define some steppers and the pins the will use
AccelStepper stepper1(AccelStepper::FULL4WIRE, 2, 3, 4, 5);; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
AccelStepper stepper2(AccelStepper::FULL4WIRE, 6, 7, 8, 9);

//const long steps_turn_M1 = 512; // Number of steps to make 1 complete turn of the 28BYJ48 stepper motor 1
//const long steps_turn_M2 = 512; // Number of steps to make 1 complete turn of the 28BYJ48 stepper motor 2
//long current_Position1;
//long current_Position2;
 
void setup()
{  
    stepper1.setMaxSpeed(200.0);
    stepper1.setAcceleration(100.0);
    stepper2.setMaxSpeed(200.0);
    stepper2.setAcceleration(100.0);
}
 
void loop()
{
    moveForward();
    delay(500);
    moveBackward();
    delay(500);
    moveLeft();
    delay(500);
    moveRight();
    delay(500);

}

void moveForward()
{
    stepper1.moveTo(stepper1.currentPosition()+512);
    stepper2.moveTo(stepper2.currentPosition()+512);
    while (stepper1.distanceToGo() != 0 & stepper2.distanceToGo() != 0)
    {
        stepper2.run();
        stepper1.run();
    }

}
 void moveBackward()
{
    stepper1.moveTo(stepper1.currentPosition()-512);
    stepper2.moveTo(stepper2.currentPosition()-512);
    while (stepper1.distanceToGo() != 0 & stepper2.distanceToGo() != 0)
    {
        stepper2.run();
        stepper1.run();
    }

}

void moveLeft()
{
    stepper1.moveTo(stepper1.currentPosition()-512);
    stepper2.moveTo(stepper2.currentPosition()+512);
    while (stepper1.distanceToGo() != 0 & stepper2.distanceToGo() != 0)
    {
        stepper2.run();
        stepper1.run();
    }

}

void moveRight()
{
    stepper1.moveTo(stepper1.currentPosition()+512);
    stepper2.moveTo(stepper2.currentPosition()-512);
    while (stepper1.distanceToGo() != 0 & stepper2.distanceToGo() != 0)
    {
        stepper2.run();
        stepper1.run();
    }

}