#include <Stepper.h>
#define VERT_PIN A0
#define HORZ_PIN A1
// change this to the number of steps on your motor
#define STEPS 8


// create an instance of the stepper class, specifying
// the number of steps of the motor and the pins it's
// attached to
Stepper stepper(STEPS, 8, 9, 10, 11);
int previous = 0;
const int trigPin = 5;
const int echoPin = 4;

long duration;
int distance;
int safetyDistance;
int add;
int abb;
int pin = 7;
int pin2 = 6;
int val;



// the previous reading from the analog input
#include <Stepper.h>
void setup() {
  // set the speed of the motor to 30 RPMs
  stepper.setSpeed(10000);
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
pinMode(echoPin, INPUT); // Sets the echoPin as an Input
Serial.begin(9600); // Starts the serial communication
pinMode(VERT_PIN, INPUT);
  pinMode(HORZ_PIN, INPUT);
  pinMode(pin, INPUT_PULLUP) ;
  pinMode(pin2, INPUT_PULLUP) ;
}

void loop() {
  // get the sensor value
  int vert = analogRead(VERT_PIN);
  int horz = analogRead(HORZ_PIN);
  digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance= duration*0.034/2;

stepper.step(val - previous);
previous = val;

  if (analogRead(VERT_PIN) >= 600){
   add -=1;
   val = add;
   delay(200);
  }
  if (analogRead(VERT_PIN) <= 400){
   add +=1;
   val = add;
   delay(200);
  }
 if (digitalRead(pin) == LOW){
  val =-distance/16;
   delay(200);
  }
  if (digitalRead(pin2) == LOW){
   val = add;
   delay(200);
  }



}



  
 


  // move a number of steps equal to the change in the
  // sensor reading


  // remember the previous value of the sensor