/*
Speed control of 2 stepper motors
Analog input of speed, mapped from 0 to MAXSPEED
Digital input of direction
Digital input of stop 
*/

#define PST1 2
#define PST2 3
#define PDIR1 4
#define PDIR2 5
#define MAXSPEED 600
#define DIRECTION 6
#define STOP 7
const byte ASPEED = A0;
#include <AccelStepper.h>
//
// Define 2 stepper motors
AccelStepper ST1(1, PST1, PDIR1);
AccelStepper ST2(1, PST2, PDIR2); 

  void setup()
{  
  ST1.setMaxSpeed(100);
  ST1.setAcceleration(10);
  ST2.setMaxSpeed(100);
  ST2.setAcceleration(10); 

  pinMode(PST1, OUTPUT);
  pinMode(PST2, OUTPUT);
  pinMode(PDIR1, OUTPUT);
  pinMode(PDIR2, OUTPUT);
  pinMode(DIRECTION, INPUT);
  pinMode(STOP, INPUT);
}
void loop() {
  // CONTROL STOP
  if(digitalRead(STOP)) {
    ST1.setSpeed(0);
    ST1.runSpeed();
    ST2.setSpeed(0);
    ST2.runSpeed();
  }
  // CONTROL DIRECTION
  if(digitalRead(DIRECTION)) {
    digitalWrite(PDIR1, HIGH);
    delay(1);
    digitalWrite(PDIR2, HIGH);
    // delay(1);
  }
    else {
      digitalWrite(PDIR1, LOW);
      delay(10);
      digitalWrite(PDIR2, LOW);
      // delay(10);
    }
 delay(1);
  // INPUT SPEED OF MOTORS
   int analogspeed = analogRead(ASPEED);
   int valspeed = map(analogspeed, 0, 1023, 0, MAXSPEED);
   //
   if(digitalRead (STOP)) {
   if(digitalRead(DIRECTION)){
      ST1.setSpeed(valspeed);
      ST2.setSpeed(valspeed); 
   }
     else {
      ST1.setSpeed(-valspeed);
      ST2.setSpeed(-valspeed); 
     }
  
   ST1.runSpeed();
   ST2.runSpeed();
   }
  
  //
  delay(1);
  
}