/*
 Controlling a servo position using a potentiometer (variable resistor)
 by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>

 modified on 8 Nov 2013
 by Scott Fitzgerald
 http://www.arduino.cc/en/Tutorial/Knob
*/

#include <Servo.h>

Servo myservo_0;  // create servo object to control a servo

int potpin0 = A0;  // analog pin used to connect the potentiometer
int val_0;    // variable to read the value from the analog pin

Servo myservo_1;  // create servo object to control a servo

int potpin1 = A1;  // analog pin used to connect the potentiometer
int val_1;

Servo myservo_2;  // create servo object to control a servo

int potpin2 = A2;  // analog pin used to connect the potentiometer
int val_2;

Servo myservo_3;

int potpin3 = A3;
int val_3;

Servo myservo_4;

int potpin4 = A4;
int val_4;

Servo myservo_5;

int potpin5 = A5;
int val_5;

//stepper setup
const int dirPin = 12;
const int stepPin = 13;
const int stepsPerRevoIution = 200;

void setup() 
{
  myservo_0.attach(3);
  myservo_1.attach(5);// attaches the servo on pin 9 to the servo object
  myservo_2.attach(6);
  myservo_3.attach(9);
  myservo_4.attach(10);
  myservo_5.attach(11);

  //stepper setup
  pinMode(dirPin, OUTPUT);
  pinMode(stepPin, OUTPUT);
}

void loop() 
{
  val_0 = analogRead(potpin0);            // reads the value of the potentiometer (value between 0 and 1023)
  val_0 = map(val_0, 0, 1023, 0, 180);     // scale it for use with the servo (value between 0 and 180)
  myservo_0.write(val_0);                  // sets the servo position according to the scaled value
  delay(15);                           // waits for the servo to get there

  val_1 = analogRead(potpin1);            // reads the value of the potentiometer (value between 0 and 1023)
  val_1 = map(val_1, 0, 1023, 0, 180);     // scale it for use with the servo (value between 0 and 180)
  myservo_1.write(val_1);                  // sets the servo position according to the scaled value
  delay(15);

  val_2 = analogRead(potpin2);
  val_2 = map(val_2, 0, 1023, 0, 180);
  myservo_2.write(val_2);
  delay(15);

  val_3 = analogRead(potpin3);
  val_3 = map(val_3, 0, 1023, 0, 180);
  myservo_3.write(val_3);
  delay(15);

  val_4 = analogRead(potpin4);
  val_4 = map(val_4, 0, 1023, 0, 180);
  myservo_4.write(val_4);
  delay(15);

  val_5 = analogRead(potpin5);
  val_5 = map(val_5, 0, 1023, 0, 180);
  myservo_5.write(val_5);
  delay(15);

  //stepper setup

  digitalWrite(dirPin, HIGH);
for (int x = 0; x < stepsPerRevoIution; x++)
{
  digitalWrite(stepPin, HIGH);
  delayMicroseconds(2000);
  digitalWrite(stepPin, LOW);
  delayMicroseconds(2000);
}
}