#include <AccelStepper.h>

/*
  - motor 1 0 sampai 300 derajat
  - motor 2, 0 sampai -150 derajat, dalam waktu 5 detik mulai bareng selesai bareng
*/

#define STEP1 12
#define DIR1 14
#define STEP2 26
#define DIR2 27

// interface type: 1 -> using driver
AccelStepper stepper1(1, STEP1, DIR1);
AccelStepper stepper2(1, STEP2, DIR2);

// Define the number of steps per revolution for each stepper motor
const int stepsPerRevolutionMotor1 = 200; // Change this value according to your motor
const int stepsPerRevolutionMotor2 = 200; // Change this value according to your motor

float targetPosition1 = 300 * stepsPerRevolutionMotor1 / 360;
float targetPosition2 = -150 * stepsPerRevolutionMotor2 / 360;

// Timer
unsigned long duration = 5000;
unsigned long rememberTime = 0;
unsigned long time_setup = 0;
unsigned long time_now = 0;

void setup() {
  Serial.begin(115200);
  
  stepper1.setMaxSpeed(1500); 
  stepper1.setAcceleration(1000); 

  stepper2.setMaxSpeed(1500); 
  stepper2.setAcceleration(1000); 
 
  time_setup = millis();
  
}

void loop() {
 
  time_now = millis() - time_setup;
  // Set the target positions for both motors

  if (time_now - rememberTime <= duration) {
    float mapTarget1 = map(time_now, 0, duration, 0, targetPosition1);
    float mapTarget2 = map(time_now, 0, duration, 0, targetPosition2);

    stepper1.moveTo(mapTarget1);
    stepper2.moveTo(mapTarget2);

     // Start both motors
    stepper1.setSpeed(stepper1.speed());
    stepper2.setSpeed(stepper2.speed());

    stepper1.run();
    stepper2.run();

  }


  stepper1.stop();
  stepper2.stop();
  
}