#include <AccelStepper.h>
#include <MultiStepper.h>

// Define stepper motor connections and motor interface type. 
// Motor interface type must be set to 1 when using a driver
#define dirPinM1 2
#define stepPinM1 3
#define interfaceTypeM1 1

#define dirPinM2 5
#define stepPinM2 6
#define interfaceTypeM2 1

#define dirPinM3 8
#define stepPinM3 9
#define interfaceTypeM3 1

// Create a new instance of the AccelStepper class:
AccelStepper stepperM1 = AccelStepper(interfaceTypeM1, stepPinM1, dirPinM1);
AccelStepper stepperM2 = AccelStepper(interfaceTypeM2, stepPinM2, dirPinM2);
AccelStepper stepperM3 = AccelStepper(interfaceTypeM3, stepPinM3, dirPinM3);

MultiStepper steppers;

int count = 1;

void setup() {
  // Set the maximum speed in steps per second:
  stepperM1.setMaxSpeed(100);
  stepperM2.setMaxSpeed(100);
  stepperM3.setMaxSpeed(100);
  stepperM3.setAcceleration(70);
  steppers.addStepper(stepperM1);
  steppers.addStepper(stepperM2);
  steppers.addStepper(stepperM3);
 
}

void loop() 
{
  stepperM3.moveTo(500);
  //while (stepperM3.currentPosition() != 300) // Full speed up to 300
  //stepperM3.run();
  stepperM3.stop(); // Stop as fast as possible: sets new target
  stepperM3.runToPosition(); 
  // Now stopped after quickstop

stepperM3.moveTo(-500);
  //while (stepperM3.currentPosition() != 0) // Full speed up to 0
  //stepperM3.run();
  stepperM3.stop(); // Stop as fast as possible: sets new target
  stepperM3.runToPosition(); 
  // Now stopped after quickstop
  


}// end loop()