const int relayPin = 8;  // relay control pin
const int footSwitchPin = 2;  // foot switch input pin
const int dirPin = 9;  // DIR control pin for microstepping driver
const int enablePin = 10;  // ENABLE control pin for microstepping driver
const int stepPin = 11;  // STEP control pin for microstepping driver

void setup() {
  pinMode(relayPin, OUTPUT);
  pinMode(footSwitchPin, INPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(enablePin, OUTPUT);
   pinMode(stepPin, OUTPUT);
}

void loop() {
  // read the foot switch input
  int footSwitchState = digitalRead(footSwitchPin);

  // if the foot switch is pressed, switch to the microstepping driver and run the stepper motor continuously
  if (footSwitchState == HIGH) {
    digitalWrite(relayPin, LOW);  // turn on the relay
    digitalWrite(enablePin, HIGH);  // enable the microstepping driver
    digitalWrite(dirPin, LOW);  // set the DIR pin to control the direction of the stepper motor
    while (true) {
      // send step and direction signals to the microstepping driver
       digitalWrite(stepPin, HIGH);
      delayMicroseconds(100);
      digitalWrite(stepPin, LOW);
      delayMicroseconds(100);
    }
  }
  // if the foot switch is not pressed, switch to the other driver
  else {
    digitalWrite(relayPin, HIGH);  // turn off the relay
    digitalWrite(enablePin, LOW);  // disable the microstepping driver
  }
}