#include <AccelStepper.h>

AccelStepper stepper1(AccelStepper::DRIVER, 9, 10);

bool homeStat = false;

void setup() {
  // put your setup code here, to run once:
  stepper1.setMaxSpeed(200.0);
  stepper1.setAcceleration(500.0);

  pinMode(12, INPUT_PULLUP);
  pinMode(13, OUTPUT);
  Serial.begin(115200);
}

void loop() {
  if (!homeStat) {
    goHome(12, homeStat);
  }
  else {
    digitalWrite(13, HIGH);
    moveXY(100 * 16, 0, homeStat);
    moveXY(-100 * 16, 0, homeStat);
  }
}

void goHome(int homePin, bool &isHome) {
  bool home = digitalRead(homePin);

  if (!isHome) {
    stepper1.run();
    if (home) {
      stepper1.moveTo(-999999);
    }
    else {
      stepper1.setCurrentPosition(0);
      stepper1.stop();
      isHome = true;
    }
  }
}

void moveXY(float X, float Y, int servoPin) {
  if (homeStat) {
    if (!stepper1.isRunning()) {
      stepper1.moveTo(stepper1.currentPosition() + X);
      stepper1.runToPosition();
    }
    else {
      stepper1.stop();
    }
  }
  else {
    goHome(12, homeStat);
  }
}