const int DIR1 = 14;
const int STEP1 = 12;
const int DIR2 = 26;
const int STEP2 = 27;
const int steps_per_rev = 200;

volatile int stepper1count = 0;
volatile int stepper2count = 0;
float stepsneeded1 = 0;
float stepsneeded2 = 0;

hw_timer_t *timer1 = NULL;
hw_timer_t *timer2 = NULL;
portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED;

void IRAM_ATTR Timer_1() {
  portENTER_CRITICAL_ISR(&timerMux);
  if (stepper1count < 2 * stepsneeded1) {
    if (stepper1count % 2 == 0) {
      digitalWrite(STEP1, HIGH);
    } else {
      digitalWrite(STEP1, LOW);
    }
    stepper1count++;
  }
  portEXIT_CRITICAL_ISR(&timerMux);
}

void IRAM_ATTR Timer_2() {
  portENTER_CRITICAL_ISR(&timerMux);
  if (stepper2count < 2 * stepsneeded2) {
    if (stepper2count % 2 == 0) {
      digitalWrite(STEP2, HIGH);
    } else {
      digitalWrite(STEP2, LOW);
    }
    stepper2count++;
  }
  portEXIT_CRITICAL_ISR(&timerMux);
}

void setup() {
  Serial.begin(115200);
  pinMode(STEP1, OUTPUT);
  pinMode(DIR1, OUTPUT);
  pinMode(STEP2, OUTPUT);
  pinMode(DIR2, OUTPUT);
  
  float timemove = 5000;
  float degreesend1 = 300;
  float degreesend2 = 150;
  
  stepsneeded1 = (300.0 / 360.0) * 200.0;
  float stepperstate = 0.0;
  float speedstepper1 = 1 / ((stepsneeded1 / timemove));
  
  stepsneeded2 = (150 / 360.0) * 200.0;
  stepperstate = 0.0;
  float speedstepper2 = 1 / ((stepsneeded2 / timemove));
  
  digitalWrite(DIR1, HIGH);
  digitalWrite(DIR2, LOW);
  
  timer1 = timerBegin(0, 80, true);
  timerAttachInterrupt(timer1, &Timer_1, true);
  timerAlarmWrite(timer1, (speedstepper1 / 2.0) * 1000, true);
  timerAlarmEnable(timer1);
  
  timer2 = timerBegin(1, 80, true);
  timerAttachInterrupt(timer2, &Timer_2, true);
  timerAlarmWrite(timer2, (speedstepper2 / 2.0) * 1000, true);
  timerAlarmEnable(timer2);
}

void loop() {

}