#include <AccelStepper.h>

const int stepPin1 = 4;
const int directionPin1 = 3;
const int enablePin = 2;
const int stepPin2 = 5;
const int directionPin2 = 6;
const int lim_1 = 7;
const int lim_2 = 8;

AccelStepper stepper1(AccelStepper::DRIVER, stepPin1, directionPin1);
AccelStepper stepper2(AccelStepper::DRIVER, stepPin2, directionPin2);

unsigned long dist = 300;
unsigned long dist2 = 300;
int home = 0;
int a = 0;
int b = 0;
int c = 0;
int d = 0;
int e = 0;
int f = 0;

int led = 13;
int lim1 = 0;
int lim2 = 0;

void setup() {
  // put your setup code here, to run once:
  stepper1.setEnablePin(enablePin);
  stepper1.enableOutputs();
  stepper1.setMaxSpeed(200000);
  stepper1.setSpeed(150000);
  stepper1.setAcceleration(200);

  stepper2.setEnablePin(enablePin);
  stepper2.enableOutputs();
  stepper2.setMaxSpeed(200000);
  stepper2.setSpeed(150000);
  stepper2.setAcceleration(200);

  pinMode(led, OUTPUT);
  pinMode(lim_1, INPUT_PULLUP);
  pinMode(lim_2, INPUT_PULLUP);

  Serial.begin(9600);
  stepper1.setCurrentPosition(0);
  stepper2.setCurrentPosition(0);

}

void loop() {
  lim1 = digitalRead(lim_1);
   lim2 = digitalRead(lim_2);
if(lim1 == LOW){
  stepper1.moveTo(dist);
  stepper2.moveTo(dist2);
  stepper1.run();
  stepper2.run();
  d = stepper1.isRunning();
}
  while(d == 1){
  stepper1.run();
  stepper2.run();
  c = stepper1.distanceToGo();
  e = stepper1.acceleration();
  Serial.print("Distance To Go = ");
  Serial.print(c); 
  Serial.print(", Stepper 1 Running = ");
  Serial.print(d);
  Serial.print(", Stepper 1 Acceleration = ");
  Serial.println(e);
  break;
  }


}