#include <AccelStepper.h>

#define stp 7
#define dir 8

AccelStepper carr = AccelStepper(1, stp, dir);
void calculation(float Gl, float Trl, float Nh, float Hhd);
void motorRunning(int steps, int speed);
float *distances;
float *rotations;
int *pulses;
float e,x;
int trayColmn;
void setup() {
  carr.setMaxSpeed(2000);
  Serial.begin(9600);
  Serial.println("rotations");
  delay(2000);
  calculation(1115, 522, 18, 35);
}

void loop() {
  for (int i = 0; i < trayColmn; i++) {
  motorRunning(pulses[i],300);
  }
}

void motorRunning(int steps, int speed) {
  carr.setCurrentPosition(0);
  while (carr.currentPosition() != steps) {
    carr.setSpeed(speed);
    carr.runSpeed();
  }
  delay(2000);
  carr.setCurrentPosition(0);
  while (carr.currentPosition() != -steps) {
    carr.setSpeed(-speed);
    carr.runSpeed();
  }
  delay(2000);
}
void calculation(float Gl, float Trl, float Nh, float Hhd) {
  x = (Trl - (Nh * Hhd)) / 2;
  e = (Gl - 200 - Trl) / 2;
  int p=Nh/2;
  trayColmn=p;
  distances = new float[p+1];
  rotations = new float[p+1];
  pulses = new int[p+1];
  distances[0] = e + x;
  rotations[0] = distances[0] / 125.66;
  pulses[0] = rotations[0] * 200;
  for (int i = 1; i < p; i++) {
    distances[i] = distances[i - 1] + Hhd;
    rotations[i] = distances[i] / 125.66;
    pulses[i] = rotations[i] * 200;
  }
}