// https://wokwi.com/projects/364535266637057025
// for https://forum.arduino.cc/t/stepper-motor-control-using-millis/1126030

// Example sketch to control a stepper motor with TB6600 stepper motor driver and Arduino without a library: number of revolutions, speed and direction.
// Define stepper motor connections and steps per revolution:
#define dirPin 2
#define stepPin 3
#define stepsPerRevolution 6400UL
unsigned long previo1 = 0;
unsigned long previo2 = 0;
unsigned long current;
boolean estado1 = false;
boolean estado2 = false;
int velocidad; //speed
int desplazamiento = 50; //data en mm
unsigned long usPerStep = 187 * 2;

void setup() {
  // Declare pins as output:
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  Serial.begin(115200);
}

unsigned long stepsToGo = 0;
int mode = 0;

void loop() {

  if (stepsToGo == 0 ) { // setup new motion
    if (mode == 0 ) {
      Serial.print('H');
      digitalWrite(dirPin, HIGH); //direction.
      stepsToGo = desplazamiento * stepsPerRevolution;
      mode = 1; // plan following motion
    } else {
      Serial.print("L");
      digitalWrite(dirPin, LOW);//direction.
      stepsToGo = desplazamiento * stepsPerRevolution;
      mode = 0; // plan following motion
    }
  }
  stepAsNeeded(usPerStep);
}

void stepAsNeeded(unsigned long interval) {
  static unsigned long lastStepUs = 0;
  unsigned long now = micros();
  if (now - lastStepUs < interval  || stepsToGo == 0) {
    return;
  }
  // otherwise, take a step
  digitalWrite(stepPin, HIGH);
  lastStepUs = now;
  --stepsToGo;
  digitalWrite(stepPin, LOW);
}