#include <AccelStepper.h>

const int stepsPerRevolution1 = 1600;  // Steps for Stepper 1 and Stepper 2
const int stepsPerRevolution2 = 1600;  // Steps for Stepper 3 and Stepper 4
const int motorDelay = 3000;           // 3-second delay

AccelStepper stepper1(AccelStepper::FULL4WIRE, 6, 7, 8, 9);
AccelStepper stepper2(AccelStepper::FULL4WIRE, 10, 11, 12, 13);
AccelStepper stepper3(AccelStepper::HALF4WIRE, 3, 4);
AccelStepper stepper4(AccelStepper::HALF4WIRE, 1, 2);

unsigned long lastMotorMoveTime = 0;
int currentState = 0;

void setup() {
  // Set maximum speed and acceleration for Stepper 3
  stepper3.setMaxSpeed(65000);  // Speed for 3-second revolution
  stepper3.setAcceleration(65000);

  stepper1.setMaxSpeed(1000);
  stepper1.setAcceleration(500);

  stepper2.setMaxSpeed(1000);
  stepper2.setAcceleration(500);

  // Set maximum speed and acceleration for Stepper 4
  stepper4.setMaxSpeed(65000);  // Speed for 3-second revolution
  stepper4.setAcceleration(65000);

  Serial.begin(9600);

  // Set Stepper 3 to make a complete revolution
  stepper3.move(stepsPerRevolution2);

  // Set initial positions for Stepper 1, Stepper 2, and Stepper 4
  stepper1.move(stepsPerRevolution1);
  stepper2.move(stepsPerRevolution1);
  stepper4.move(stepsPerRevolution2);
}

void loop() {
  unsigned long currentTime = millis();

  switch (currentState) {
    case 0: // Stepper 3
      if (stepper3.distanceToGo() == 0) {
        stepper3.moveTo(-stepper3.currentPosition());
      }
      stepper3.runSpeed();

      // Transition to the next state after 3 seconds
      if (currentTime - lastMotorMoveTime >= motorDelay) {
        lastMotorMoveTime = currentTime;
        currentState = 1;
      }
      break;

    case 1: // Stepper 1 and Stepper 2 run simultaneously
      if (stepper1.distanceToGo() == 0) {
        stepper1.moveTo(-stepper1.currentPosition());
      }
      stepper1.runSpeed();

      if (stepper2.distanceToGo() == 0) {
        stepper2.moveTo(-stepper2.currentPosition());
      }
      stepper2.runSpeed();

      // Transition to the next state after 3 seconds
      if (currentTime - lastMotorMoveTime >= motorDelay) {
        lastMotorMoveTime = currentTime;
        currentState = 2;
      }
      break;

    case 2: // Stepper 4
      if (stepper4.distanceToGo() == 0) {
        stepper4.moveTo(-stepper4.currentPosition());
      }
      stepper4.runSpeed();

      // Transition to the first state after 3 seconds
      if (currentTime - lastMotorMoveTime >= motorDelay) {
        lastMotorMoveTime = currentTime;
        currentState = 0;
      }
      break;
  }
}