#include <Arduino.h>
#include "A4988.h"
#include <Servo.h> // include the required Arduino library

const int servoPin = 15; // representing pump motor
Servo servo;
int pos = 0; // servo angle for pump
int LED1 = 14;
//Motor1 Specs
const int StepX = 2;
const int DirX = 5;
int MS1 ; //GPIO7 in Arduino UNO --- MS1 for A4988
int MS2 ; //GPIO6 in Arduino UNO --- MS2 for A4988
int MS3 ; //GPIO5 in Arduino UNO --- MS3 for A4988
const int spr1 = 200; //Steps per revolution
int RPM1 = 15; //Motor Speed in revolutions per minute
int Microsteps1 = 1; //Stepsize (1 for full steps, 2 for half steps, 4 for quarter steps, etc)

//Motor2 Specs
const int StepY = 3;
const int DirY = 6;
int MS12 ; //GPIO7 in Arduino UNO --- MS1 for A4988
int MS22 ; //GPIO6 in Arduino UNO --- MS2 for A4988
int MS32 ; //GPIO5 in Arduino UNO --- MS3 for A4988
 
const int spr2 = 200; //Steps per revolution
int RPM2 = 15; //Motor Speed in revolutions per minute
int Microsteps2 = 1; //Stepsize (1 for full steps, 2 for half steps, 4 for quarter steps, etc)

//Motor3 Specs
const int StepZ = 4;
const int DirZ = 7;
int MS13 ; //GPIO7 in Arduino UNO --- MS1 for A4988
int MS23 ; //GPIO6 in Arduino UNO --- MS2 for A4988
int MS33 ; //GPIO5 in Arduino UNO --- MS3 for A4988
 
const int spr3 = 200; //Steps per revolution
int RPM3 = 15; //Motor Speed in revolutions per minute
int Microsteps3 = 1; //Stepsize (1 for full steps, 2 for half steps, 4 for quarter steps, etc)

//Motor4 Specs
const int StepA = 12;
const int DirA = 13;
int MS14 ; //GPIO7 in Arduino UNO --- MS1 for A4988
int MS24 ; //GPIO6 in Arduino UNO --- MS2 for A4988
int MS34 ; //GPIO5 in Arduino UNO --- MS3 for A4988
 
const int spr4 = 200; //Steps per revolution
int RPM4 = 15; //Motor Speed in revolutions per minute
int Microsteps4 = 1; //Stepsize (1 for full steps, 2 for half steps, 4 for quarter steps, etc)
 

//Providing parameters for motor control
A4988 stepper1(spr1, DirX, StepX, MS1, MS2, MS3);
A4988 stepper2(spr2, DirY, StepY, MS12, MS22, MS32);
A4988 stepper3(spr3, DirZ, StepZ, MS13, MS23, MS33);
A4988 stepper4(spr4, DirA, StepA, MS14, MS24, MS34);
 
void setup() {
 // initialize digital pin LED1 as an output.
  pinMode(LED1, OUTPUT); // solenoid valve
  servo.attach(servoPin, 500, 2400); //pump motor

  Serial.begin(9600);
  pinMode(StepX, OUTPUT); //Step pin as output
  pinMode(DirX,  OUTPUT); //Direcction pin as output
  digitalWrite(StepX, LOW); // Currently no stepper motor movement
  digitalWrite(DirX, LOW);
 
  pinMode(StepY, OUTPUT); //Step pin as output
  pinMode(DirY,  OUTPUT); //Direcction pin as output
  digitalWrite(StepY, LOW); // Currently no stepper motor movement
  digitalWrite(DirY, LOW);

  pinMode(StepZ, OUTPUT); //Step pin as output
  pinMode(DirZ,  OUTPUT); //Direcction pin as output
  digitalWrite(StepZ, LOW); // Currently no stepper motor movement
  digitalWrite(DirZ, LOW);

  pinMode(StepA, OUTPUT); //Step pin as output
  pinMode(DirA,  OUTPUT); //Direcction pin as output
  digitalWrite(StepA, LOW); // Currently no stepper motor movement
  digitalWrite(DirA, LOW);
  delay(1000);//Wait 1000 milliseconds (1 second) proceeding
  // Set target motor RPM to and microstepping setting
  stepper1.begin(RPM1, Microsteps1);
  stepper2.begin(RPM2, Microsteps2);
  stepper3.begin(RPM3, Microsteps3);
  stepper4.begin(RPM4, Microsteps4);

}
 
void loop() {
    // first motion
    stepper3.move(-25);//Move 25 steps clockwise (angle 45)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
    stepper2.move(25);//Move 25 steps counter-clockwise (angle 45)
    delay(1000);//Wait 1000 milliseconds (1 second) before moving again
      for (pos = 0; pos <= 180; pos += 1) // pump is on
       {servo.write(pos);
    delay(15);
  }
    digitalWrite(LED1, HIGH);   //  solenoid valve is on
    delay(1000);                       // wait for 1 second 
      for (pos = 180; pos >= 0; pos -= 1) // pump is off
       {servo.write(pos);
    delay(15);
  }
     // End of first motion
    delay(5000);//Wait 5000 milliseconds (5 second) before next motion
    while(1){
       //infinite loop to stop motion
     }
}
mega:SCL
mega:SDA
mega:AREF
mega:GND.1
mega:13
mega:12
mega:11
mega:10
mega:9
mega:8
mega:7
mega:6
mega:5
mega:4
mega:3
mega:2
mega:1
mega:0
mega:14
mega:15
mega:16
mega:17
mega:18
mega:19
mega:20
mega:21
mega:5V.1
mega:5V.2
mega:22
mega:23
mega:24
mega:25
mega:26
mega:27
mega:28
mega:29
mega:30
mega:31
mega:32
mega:33
mega:34
mega:35
mega:36
mega:37
mega:38
mega:39
mega:40
mega:41
mega:42
mega:43
mega:44
mega:45
mega:46
mega:47
mega:48
mega:49
mega:50
mega:51
mega:52
mega:53
mega:GND.4
mega:GND.5
mega:IOREF
mega:RESET
mega:3.3V
mega:5V
mega:GND.2
mega:GND.3
mega:VIN
mega:A0
mega:A1
mega:A2
mega:A3
mega:A4
mega:A5
mega:A6
mega:A7
mega:A8
mega:A9
mega:A10
mega:A11
mega:A12
mega:A13
mega:A14
mega:A15
A4988
drv1:ENABLE
drv1:MS1
drv1:MS2
drv1:MS3
drv1:RESET
drv1:SLEEP
drv1:STEP
drv1:DIR
drv1:GND.1
drv1:VDD
drv1:1B
drv1:1A
drv1:2A
drv1:2B
drv1:GND.2
drv1:VMOT
stepper1:A-
stepper1:A+
stepper1:B+
stepper1:B-
A4988
drv2:ENABLE
drv2:MS1
drv2:MS2
drv2:MS3
drv2:RESET
drv2:SLEEP
drv2:STEP
drv2:DIR
drv2:GND.1
drv2:VDD
drv2:1B
drv2:1A
drv2:2A
drv2:2B
drv2:GND.2
drv2:VMOT
stepper2:A-
stepper2:A+
stepper2:B+
stepper2:B-
stepper3:A-
stepper3:A+
stepper3:B+
stepper3:B-
stepper4:A-
stepper4:A+
stepper4:B+
stepper4:B-
A4988
drv3:ENABLE
drv3:MS1
drv3:MS2
drv3:MS3
drv3:RESET
drv3:SLEEP
drv3:STEP
drv3:DIR
drv3:GND.1
drv3:VDD
drv3:1B
drv3:1A
drv3:2A
drv3:2B
drv3:GND.2
drv3:VMOT
A4988
drv4:ENABLE
drv4:MS1
drv4:MS2
drv4:MS3
drv4:RESET
drv4:SLEEP
drv4:STEP
drv4:DIR
drv4:GND.1
drv4:VDD
drv4:1B
drv4:1A
drv4:2A
drv4:2B
drv4:GND.2
drv4:VMOT
led1:A
led1:C
servo1:GND
servo1:V+
servo1:PWM
r2:1
r2:2