#include <Servo.h>

// Define pins for stepper motor driver connections
const int stepPin1 = 2;
const int dirPin1 = 3;
const int stepPin2 = 4;
const int dirPin2 = 5;
const int stepPin3 = 6;
const int dirPin3 = 7;
const int stepPin4 = 8;
const int dirPin4 = 9;

// Define pins for servo motor
const int servoPin = 10;

// Define some constants
const int stepsPerRevolution = 200; // Steps per revolution for your stepper motor
const int servoMin = 0; // Minimum angle for the servo
const int servoMax = 180; // Maximum angle for the servo

// Create servo object
Servo myServo;

void setup() {
  // Set the pins as outputs
  pinMode(stepPin1, OUTPUT);
  pinMode(dirPin1, OUTPUT);
  pinMode(stepPin2, OUTPUT);
  pinMode(dirPin2, OUTPUT);
  pinMode(stepPin3, OUTPUT);
  pinMode(dirPin3, OUTPUT);
  pinMode(stepPin4, OUTPUT);
  pinMode(dirPin4, OUTPUT);

  // Attach servo to pin
  myServo.attach(servoPin);
}

void loop() {
  // Move stepper motor 1
  moveStepper(stepPin1, dirPin1);

  // Move stepper motor 2
  moveStepper(stepPin2, dirPin2);

  // Move stepper motor 3
  moveStepper(stepPin3, dirPin3);

  // Move stepper motor 4
  moveStepper(stepPin4, dirPin4);

  // Move servo
  moveServo();
}

// Function to move stepper motor
void moveStepper(int stepPin, int dirPin) {
  // Set direction
  digitalWrite(dirPin, HIGH); // Set direction to clockwise (or counterclockwise if needed)

  // Step the motor
  for (int i = 0; i < stepsPerRevolution; i++) {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(500); // Adjust as needed for your motor speed
    digitalWrite(stepPin, LOW);
    delayMicroseconds(500); // Adjust as needed for your motor speed
  }

  // Reverse direction after completing a full revolution
  digitalWrite(dirPin, LOW); // Set direction to counterclockwise (or clockwise if needed)

  // Step the motor back to original position
  for (int i = 0; i < stepsPerRevolution; i++) {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(500); // Adjust as needed for your motor speed
    digitalWrite(stepPin, LOW);
    delayMicroseconds(500); // Adjust as needed for your motor speed
  }
}

// Function to move servo motor
void moveServo() {
  // Move the servo from min to max angle
  for (int angle = servoMin; angle <= servoMax; angle++) {
    myServo.write(angle);
    delay(15); // Adjust as needed for servo speed
  }

  // Move the servo from max to min angle
  for (int angle = servoMax; angle >= servoMin; angle--) {
    myServo.write(angle);
    delay(15); // Adjust as needed for servo speed
  }
}