// Stepper motor control using A4988 module and Arduino Mega

// Define connections to the A4988 module
const int stepPin1 = 2;   // Step pin
const int dirPin1 = 3;    // Direction pin
const int enPin1 = 4;     // Enable pin (set to LOW to enable)
const int stepPin2 = 5;   // Step pin
const int dirPin2 = 6;    // Direction pin
const int enPin2 = 7;     // Enable pin (set to LOW to enable)

// Define some constants for motor control
const int stepsPerRevolution = 2000;  // Number of steps for a full revolution
const int delayTime = 5;             // Delay time between steps (in milliseconds)

void setup() {
  // Set up the pins as outputs
  pinMode(stepPin1, OUTPUT);
  pinMode(dirPin1, OUTPUT);
  pinMode(enPin1, OUTPUT);
  pinMode(stepPin2, OUTPUT);
  pinMode(dirPin2, OUTPUT);
  pinMode(enPin2, OUTPUT);

  // Set initial direction and enable the motor
  digitalWrite(dirPin1, HIGH);   // Set direction to clockwise
  digitalWrite(enPin1, LOW);     // Enable the motor
  digitalWrite(dirPin2, HIGH);   // Set direction to clockwise
  digitalWrite(enPin2, LOW);     // Enable the motor
}

void loop() {
  // Rotate the motor in one direction
  digitalWrite(dirPin1, HIGH);  // Set direction to clockwise
  for (int i = 0; i < stepsPerRevolution; i++) {
    digitalWrite(stepPin1, HIGH);
    delayMicroseconds(delayTime);
    digitalWrite(stepPin1, LOW);
    delayMicroseconds(delayTime);
  }
  delay(1000);  // Wait for a second

  // Rotate the motor in the other direction
  digitalWrite(dirPin1, LOW);   // Set direction to counterclockwise
  for (int i = 0; i < stepsPerRevolution; i++) {
    digitalWrite(stepPin1, HIGH);
    delayMicroseconds(delayTime);
    digitalWrite(stepPin1, LOW);
    delayMicroseconds(delayTime);
  }
  delay(1000);  // Wait for a second
  // Rotate the motor in one direction
  digitalWrite(dirPin2, HIGH);  // Set direction to clockwise
  for (int i = 0; i < stepsPerRevolution; i++) {
    digitalWrite(stepPin2, HIGH);
    delayMicroseconds(delayTime);
    digitalWrite(stepPin2, LOW);
    delayMicroseconds(delayTime);
  }
  delay(1000);  // Wait for a second

  // Rotate the motor in the other direction
  digitalWrite(dirPin2, LOW);   // Set direction to counterclockwise
  for (int i = 0; i < stepsPerRevolution; i++) {
    digitalWrite(stepPin2, HIGH);
    delayMicroseconds(delayTime);
    digitalWrite(stepPin2, LOW);
    delayMicroseconds(delayTime);
  }
  delay(1000);  // Wait for a second
}