#define RIGHT_MOTOR_STEP_PIN 21
#define RIGHT_MOTOR_DIRECTION_PIN 15

#define LEFT_MOTOR_STEP_PIN 19
#define LEFT_MOTOR_DIRECTION_PIN 18

#define RPM 15
//1.8 degree / sec = 1 step / second
//1 degree / sec = 1/1.8 step / second

double steps_per_second = ((RPM * 60.0) / 360) / 2;

void rotate_right_positive(){
  //to turn the robot +90 degrees.
  //The logic is simple (for now) just lock one wheel. Move the other.



}

void rotate_90_negative(){
  //to turn the robot -90 degrees.
  //The logic is opposite of rotate_90_negative. Lock and move the opposite wheels.



}

void move_forward(){



}

void setup() {
  Serial.begin(11520);
  //2 Stepper MOTORS, CONTROLLED VIA 4 PINS OF THE MICROCONTROLLER.
  pinMode(RIGHT_MOTOR_DIRECTION_PIN, OUTPUT);
  pinMode(RIGHT_MOTOR_STEP_PIN, OUTPUT);
  pinMode(LEFT_MOTOR_DIRECTION_PIN, OUTPUT);
  pinMode(LEFT_MOTOR_STEP_PIN, OUTPUT);

  digitalWrite(RIGHT_MOTOR_DIRECTION_PIN, LOW);
  digitalWrite(RIGHT_MOTOR_STEP_PIN, LOW);
  digitalWrite(LEFT_MOTOR_DIRECTION_PIN, LOW);
  digitalWrite(LEFT_MOTOR_STEP_PIN, LOW);
}


void loop() {


  digitalWrite(RIGHT_MOTOR_STEP_PIN, HIGH);
  delay(500);
  digitalWrite(RIGHT_MOTOR_STEP_PIN, LOW);
  delay(500);

  Serial.println("Done");

  delay(1000); // this speeds up the simulation
}