#include <Stepper.h>

int stepsPerRevolution = 2048;
int motSpeed = 50;
int dt = 500;
int state_fam = 0;
int state_fam_old;


const byte limit1Pin = 10;
const byte limit2Pin = 11;
const byte limit3Pin = 12;
const byte button4Pin = 13;
      byte but4State;
int motDir = 1;

Stepper myStepper1(stepsPerRevolution, 2, 4, 3, 5);
Stepper myStepper2(stepsPerRevolution, 6, 8, 7, 9);

void setup() {
    Serial.begin(115200);
    myStepper1.setSpeed(motSpeed);
    myStepper2.setSpeed(motSpeed);
    pinMode(limit1Pin, INPUT_PULLUP);
    pinMode(limit2Pin, INPUT_PULLUP);
    pinMode(limit3Pin, INPUT_PULLUP);

    pinMode(button4Pin, INPUT_PULLUP);
    but4State = digitalRead(button4Pin);

    myStepper1.setSpeed(motSpeed);
    myStepper2.setSpeed(motSpeed);


    
    while (digitalRead(limit3Pin) == HIGH) {
        myStepper2.step(motDir * -1);
        delay(50);
    }
}

byte runStepper1 = false;
byte runStepper2 = false;

const int Stop = 5;

void loop() {
    Serial.print("state: ");
    Serial.println(state_fam);

    switch (state_fam) {



    case 0:
        runStepper1 = true;
        myStepper1.step(motDir * 1);

        if (digitalRead(limit1Pin) == LOW) {
            runStepper1 = false;
            state_fam = 1;
        }

        break;

    case 1:
        runStepper2 = true;
        myStepper2.step(motDir * 1);

        if (digitalRead(limit2Pin) == LOW ) {
            runStepper2 = false;
            state_fam = 2;
        }
        break;

    case 2:
        delay(1000);
        runStepper2 = false;
        delay(1000);
        state_fam = 3;

    case 3:
        runStepper2 = true;
        myStepper2.step(motDir * -1);

        if (digitalRead(limit3Pin) == LOW) {
            runStepper2 = false;
            state_fam = 4;
        }
        break;

    case 4:
       runStepper1 = true;
       myStepper1.step(motDir * 1);

       if (digitalRead(limit1Pin) == HIGH) {
        runStepper1 = true;
        state_fam = 0;
       }
       break;

    case Stop:
        break;
    }

    byte but = digitalRead (button4Pin);
    if (but4State != but)  {
        but4State = but;
        delay (20);

        if (LOW == but)  {
            if (Stop == state_fam)
                state_fam = state_fam_old;
            else  {
                state_fam_old = state_fam;
                state_fam = Stop;
            }
        }
    }

    delay(50);
}