#include "AccelStepper.h"

const int stepper1_stepPin = 101;
const int stepper1_directionPin = 102;
const int stepper1_enablePin = 100;

const int stepper2_stepPin = 109;
const int stepper2_directionPin = 110;
const int stepper2_enablePin = 108;

AccelStepper stepper1(AccelStepper::DRIVER, stepper1_stepPin, stepper1_directionPin); // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
AccelStepper stepper2(AccelStepper::DRIVER, stepper2_stepPin, stepper2_directionPin); // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5


bool enState = false;
bool dirState = true;

void setup() {
  pinMode(13, OUTPUT);

  stepper1.setEnablePin(stepper1_enablePin);
  stepper1.setPinsInverted(false, false, true);
  stepper1.enableOutputs();

  stepper1.setMaxSpeed(400);
  stepper1.setAcceleration(250);

  stepper2.setEnablePin(stepper2_enablePin);
  stepper2.setPinsInverted(false, false, true);
  stepper2.enableOutputs();

  stepper2.setMaxSpeed(400);
  stepper2.setAcceleration(250);

  // Serial.begin(115200);
}

void loop() {
  // digitalWrite(101, HIGH);
  // delay(3);
  // digitalWrite(101, LOW);
  // delay(3);

  if(stepper1.distanceToGo() == 0) {
    // delay(1000);
    stepper1.moveTo(random(200, 1000));
  }
  
  if(stepper2.distanceToGo() == 0) {
    // delay(1000);
    stepper2.moveTo(random(200, 1000));
  }

  stepper1.run();
  stepper2.run(); // сделать условие переноса на вторую 74c
}