#define EN 26      //电机使能
#define DIR 25     //电机旋转方向
#define STP1 27    //电机1步进
#define STP2 14    //电机2步进
#define STP3 12    //电机3步进
#define STP4 13    //电机4步进
#define IN1 15     //输入1
int ValIN1;

void setup() {
  pinMode(EN,OUTPUT); 
  pinMode(DIR,OUTPUT);
  pinMode(STP1,OUTPUT); 
  pinMode(STP2,OUTPUT);
  pinMode(STP3,OUTPUT);
  pinMode(STP4,OUTPUT);
  pinMode(IN1, INPUT_PULLUP);
  Serial.begin(115200);
  Serial.println("Hello, Raspberry Pi Pico!");
}

void loop() {
  digitalWrite(EN,HIGH);
  ValIN1 = digitalRead(IN1);
  if(ValIN1==LOW){
    digitalWrite(EN,LOW);
    }else{
      digitalWrite(EN,HIGH);
    }

  digitalWrite(DIR,HIGH);
  for(int x = 0; x < 10; x++) {
    digitalWrite(STP1,HIGH); 
    delayMicroseconds(100); 
    digitalWrite(STP1,LOW); 
    delayMicroseconds(100);
  }
  delay(10);

  digitalWrite(DIR,HIGH);
  for(int x = 0; x < 10; x++) {
    digitalWrite(STP2,HIGH); 
    delayMicroseconds(100); 
    digitalWrite(STP2,LOW); 
    delayMicroseconds(100);
  }
  delay(10);

  digitalWrite(DIR,HIGH);
  for(int x = 0; x < 10; x++) {
    digitalWrite(STP3,HIGH); 
    delayMicroseconds(100); 
    digitalWrite(STP3,LOW); 
    delayMicroseconds(100);
  }
  delay(10);

  digitalWrite(DIR,HIGH);
  for(int x = 0; x < 10; x++) {
    digitalWrite(STP4,HIGH); 
    delayMicroseconds(100); 
    digitalWrite(STP4,LOW); 
    delayMicroseconds(100);
  }
  delay(10);
}