//Pin configuration
int dirPinA = 8;
int stepPinA = 9;
int dirPinB = 6;
int stepPinB = 7;

//Changing Direction
bool dirA = LOW;
bool dirB = LOW;

//Changing the number of overall cycles and steps in each cycle
int i=0;
int cycle=1; //change this variable to edit the number of cycles
int step=200; //number of step per cycle 

//delay
int us=50; //delaymicroseconds
int ms=10; //delay (in miliseconds)

void setup()
{
  Serial.begin(9600);
  pinMode(stepPinA, OUTPUT);
  pinMode(dirPinA, OUTPUT);
  pinMode(stepPinB, OUTPUT);
  pinMode(dirPinB, OUTPUT);

  digitalWrite(dirPinA, dirA);
  digitalWrite(dirPinB, dirB);
}
void loop(){
  moveAB(step, stepPinA, step, stepPinB);
  delay(1000);
  i+=1;
  if(i==cycle) exit(0);
}
void moveAB(long nStepA, int stepPinA, long nStepB, int stepPinB){
  long nstep = 1;

  while (nstep <= nStepA || nstep <= nStepB){
    nstep++;
    digitalWrite(stepPinA, HIGH);
    digitalWrite(stepPinB, HIGH);
    delayMicroseconds(us);
    digitalWrite(stepPinA, LOW);
    digitalWrite(stepPinB, LOW);
    delayMicroseconds(us);
    delay(ms);
  }
}