#include <AccelStepper.h>

// Define the connections for the four stepper motors
const int motor1Step = 32;
const int motor1Dir = 34;

const int motor2Step = 25;
const int motor2Dir = 33;

const int motor3Step = 27;
const int motor3Dir = 26;

const int motor4Step = 12;
const int motor4Dir = 14;

// Create instances of AccelStepper for each motor
AccelStepper stepper1(AccelStepper::DRIVER, motor1Step, motor1Dir);
AccelStepper stepper2(AccelStepper::DRIVER, motor2Step, motor2Dir);
AccelStepper stepper3(AccelStepper::DRIVER, motor3Step, motor3Dir);
AccelStepper stepper4(AccelStepper::DRIVER, motor4Step, motor4Dir);

void setup() {
  // Set up serial communication for debugging
  Serial.begin(115200);

  // Set the maximum speed and acceleration for each stepper motor
  stepper1.setMaxSpeed(1000);
  stepper1.setAcceleration(500);

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

  stepper3.setMaxSpeed(1000);
  stepper3.setAcceleration(500);

  stepper4.setMaxSpeed(1000);
  stepper4.setAcceleration(500);
}

void loop() {
  // Move all four stepper motors one full revolution in one direction
  stepper1.move(200);  // Number of steps for one revolution
  stepper2.move(200);
  stepper3.move(200);
  stepper4.move(200);

  // Run all steppers simultaneously
  stepper1.run();
  stepper2.run();
  stepper3.run();
  stepper4.run();

}