#include <AccelStepper.h>

const int ptSpeed = 2;
const int ptPos = 15;

const int w1 = 19;
const int w2 = 18;
const int w3 = 5;
const int w4 = 17;

int position = 0;
int speed = 0;

AccelStepper stp(AccelStepper::FULL4WIRE, w1, w2, w3, w4);

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  
  pinMode(ptSpeed, INPUT);
  pinMode(ptPos, INPUT);

  stp.setMaxSpeed(20000);
  stp.setAcceleration(5000);

  while(!Serial);

}

void loop() {

  //Reads and converts the speed and position
  int speed = map(analogRead(ptSpeed), 0, 4095, 0, 10000);
  int position = map(analogRead(ptPos), 0, 4095, 0, 2000);

  Serial.println("Speed = " + String(speed) + " position = " + String(position));

  stp.moveTo(position);
  stp.setAcceleration(speed);
  stp.run();
  delay(10);

  //delayMicroseconds(speed);

  //delay(speed); // this speeds up the simulation
}