#include <Stepper.h>

int stepper_speed = 30;

// Define the pins for each motor
#define PUL1_PIN 2 // Pulse pin for motor 1
#define DIR1_PIN 3 // Direction pin for motor 1
#define PUL2_PIN 4 // Pulse pin for motor 2
#define DIR2_PIN 5 // Direction pin for motor 2

// Define the steps per revolution for each motor
const int stepsPerRevolution1 = 200;
const int stepsPerRevolution2 = 200;

// Create stepper objects for each motor
Stepper motor1 (stepsPerRevolution1, PUL1_PIN, DIR1_PIN);
Stepper motor2 (stepsPerRevolution2, PUL2_PIN, DIR2_PIN);

// Define the delay for the second motor in milliseconds
const int delay2 = 20000; // 20 seconds

// Define a variable to store the start time of the first motor
unsigned long startTime1;

int Number_of_Revolutions = 1;

void setup() 
{
  Serial.begin(9600);
  // Set the speed for each motor
  motor1.setSpeed (stepper_speed); // 30 rpm
  motor2.setSpeed (stepper_speed); // 30 rpm
  Number_of_Revolutions = 1;

}

void loop() 
{

  // Step the first motor forward
stepOne(Number_of_Revolutions,true, 20);
  delay (1000); // Wait for 1 second
  // Step the first motor backward
stepOne(Number_of_Revolutions,true, 20);
  delay (1000); // Wait for 1 second
}
// A function that steps one motor and starts the second motor after a delay
void stepOne(int steps1, bool dir, int delayof) 
{
  int onestep = -1;
  if (dir == 1)
  {
    // forward
    onestep=1;
  }

  // Record the start time of the first motor
  startTime1 = millis ();
   // the speed of the steppers relates to the timing
   // eg 30 rpm = 30 / 60 for revs per second
   // and 30/60 / 1000  is revs per msec
    float delayrevs = stepper_speed / 6000.0;
   Serial.print(stepper_speed );
     Serial.print("\t");
   Serial.println(delayrevs,5 );
  // Loop for the number of steps
  for (int i = 0; i < steps1; i++) 
  {
    // Step the first motor
    motor1.step (1);
    // Check if the delay for the second motor has passed
    if (millis () - startTime1 >= delay2) 
    {
      // Step the second motor in the same direction as the first motor
      motor2.step (1);
    }
    // Delay between steps
    delay (10);
  }
}