#include <AccelStepper.h>

#define MAX_SPEED 200
#define DIR_PIN_1  2
#define STEP_PIN_1 3

#define DIR_PIN_2  4
#define STEP_PIN_2 5

#define DIR_PIN_3  6
#define STEP_PIN_3 7

#define ENABLE 13
// khai bao Step Motor
AccelStepper stepper1 (1, STEP_PIN_1, DIR_PIN_1);                                                                                       
AccelStepper stepper2 (1, STEP_PIN_2, DIR_PIN_2);
AccelStepper stepper3 (1, STEP_PIN_3, DIR_PIN_3);

double STP_SPEED_1 = 20;
double STP_SPEED_2 = -50;
double STP_SPEED_3 = 100;

void setup() {
  pinMode(ENABLE,OUTPUT); // Enable
  digitalWrite(ENABLE,LOW); // Dặt Enable xuống low để khởi động động cơ

  stepper1.setMaxSpeed(MAX_SPEED);  //chỉnh tốc độ. 
  
  stepper2.setMaxSpeed(MAX_SPEED);  //chỉnh tốc độ. 

  stepper3.setMaxSpeed(MAX_SPEED);  //chỉnh tốc độ. 
  
  

  
}

void loop() 
{ 
  stepper1.setSpeed(STP_SPEED_1);
  stepper2.setSpeed(STP_SPEED_2);
  stepper3.setSpeed(STP_SPEED_3);
  
  stepper3.setAcceleration(50); //chỉnh gia tốc.
  stepper2.setAcceleration(100); //chỉnh gia tốc.
  stepper1.setAcceleration(100); //chỉnh gia tốc.

  stepper1.runSpeed();
  stepper2.runSpeed();
  stepper3.runSpeed();
}