// Example sketch to control a stepper motor with A4988 stepper motor driver 
// and Arduino without a library. 
// More info: https://www.makerguides.com

// Define stepper motor connections and steps per revolution:
#define DIR_PIN 2
#define STEP_PIN 3
#define STEPS_PER_REVOLUTION 200

void setup() {
  // Declare pins as output:
  Serial.begin(115200);
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
}

void loop() {
  // Set the spinning direction clockwise:
  Serial.println("Spinning clockwise slow");
  digitalWrite(DIR_PIN, HIGH);

  // Spin the stepper motor 1 revolution slowly:
  for (int i = 0; i < STEPS_PER_REVOLUTION; i++) {
    // These four lines result in 1 step:
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(2000);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(2000);
  }

  delay(1000);

  // Set the spinning direction counterclockwise:
  Serial.println("Spinning counterclockwise faster");

  digitalWrite(DIR_PIN, LOW);

  // Spin the stepper motor 1 revolution quickly:
  for (int i = 0; i < STEPS_PER_REVOLUTION; i++) {
    // These four lines result in 1 step:
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(1000);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(1000);
  }

  delay(1000);

  // Set the spinning direction clockwise:
  Serial.println("Spinning clockwise fast");

  digitalWrite(DIR_PIN, HIGH);

  // Spin the stepper motor 5 revolutions fast:
  for (int i = 0; i < 5 * STEPS_PER_REVOLUTION; i++) {
    // These four lines result in 1 step:
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(500);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(500);
  }

  delay(1000);

  // Set the spinning direction counterclockwise:
  Serial.println("Spinning counterclockwise fast");
  digitalWrite(DIR_PIN, LOW);

  //Spin the stepper motor 5 revolutions fast:
  for (int i = 0; i < 5 * STEPS_PER_REVOLUTION; i++) {
    // These four lines result in 1 step:
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(500);
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(500);
  }

  delay(1000);
}