// Forum: https://forum.arduino.cc/t/stepper-motor-with-millis-micros/1099939
// This Wokwi project: https://wokwi.com/projects/358757303490537473

const int dirPinX = 18;
const int stepPinX = 19;

unsigned long previousMicros;
unsigned long currentMicros;
const unsigned long period = 500; // 500 microseconds
int pulseState = LOW;             // default low

void setup()
{
  pinMode(stepPinX, OUTPUT);
  pinMode(dirPinX, OUTPUT);

  digitalWrite(dirPinX, HIGH);
}

void loop()
{
  stepX();
}

void stepX()
{
  currentMicros = micros();  //get the current "time" (time since program start)

  // A millis-timer that toggles the output
  if (currentMicros - previousMicros >= period)  //test whether period elapsed
  {
    previousMicros = currentMicros;

    // toggle the pulseState
    if( pulseState == LOW)
      pulseState = HIGH;
    else
      pulseState = LOW;

    digitalWrite(stepPinX, pulseState);
  }  
}