#include <Stepper.h>
#include <Servo.h>

Servo myservo;

const int stepsPerRevolution = 200;

int dirPin1 = 2;
int stepPin1 = 3;
int dirPin2 = 4;
int stepPin2 = 5;
int dirPin3 = 6;
int stepPin3 = 7;

void setup() {

myservo.attach(A0);

pinMode(dirPin1, OUTPUT);
pinMode(stepPin1, OUTPUT);
pinMode(dirPin2, OUTPUT);
pinMode(stepPin2, OUTPUT);
pinMode(dirPin3, OUTPUT);
pinMode(stepPin3, OUTPUT);

}

void loop() {
  
//Extending Arm

  digitalWrite(dirPin1, HIGH);

    for (int i = 0; i < 2.8 * stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(stepPin1, HIGH);
    delayMicroseconds(500);
    digitalWrite(stepPin1, LOW);
    delayMicroseconds(500);
  }

  digitalWrite(dirPin2, HIGH);

    for (int i = 0; i < 2.8 * stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(stepPin2, HIGH);
    delayMicroseconds(500);
    digitalWrite(stepPin2, LOW);
    delayMicroseconds(500);
  }

  digitalWrite(dirPin3, HIGH);

    for (int i = 0; i < 2.8 * stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(stepPin3, HIGH);
    delayMicroseconds(500);
    digitalWrite(stepPin3, LOW);
    delayMicroseconds(500);
  }

  myservo.write(60);

  //Retract Arm

  digitalWrite(dirPin1, LOW);

    for (int i = 0; i < 2.8 * stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(stepPin1, HIGH);
    delayMicroseconds(500);
    digitalWrite(stepPin1, LOW);
    delayMicroseconds(500);
  }

  digitalWrite(dirPin2, LOW);

    for (int i = 0; i < 2.8 * stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(stepPin2, HIGH);
    delayMicroseconds(500);
    digitalWrite(stepPin2, LOW);
    delayMicroseconds(500);
  }

  digitalWrite(dirPin3, LOW);

    for (int i = 0; i < 2.8 * stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(stepPin3, HIGH);
    delayMicroseconds(500);
    digitalWrite(stepPin3, LOW);
    delayMicroseconds(500);
  }

    myservo.write(0);

  }