#include <Servo.h>
#include <Stepper.h>


// https://www.instructables.com/Arduino-Multiple-Servo-Control-With-Arduino/
// https://wokwi.com/projects/327324886912467538

// create servo object to control a servo
// twelve servo objects can be created on most boards
Servo servoEyes;
Servo servoArm;

const int stepsPerRevolution = 200;
Stepper stepperOne(stepsPerRevolution, 10, 11, 12, 13);
Stepper stepperTwo(stepsPerRevolution, 6, 7, 8, 9);

int pos = 0;    // variable to store the servo position


void setup() {
  servoEyes.attach(3);  // attaches the servo on pin 9 to the servo object
  servoArm.attach(2);

  stepperOne.setSpeed(45); // sets rpm to 45
  stepperTwo.setSpeed(45);
  Serial.begin(9600); // initializes serial monitor
}

void loop() {
  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    servoEyes.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
    servoEyes.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  
  delay(1000);

  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    servoArm.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
    servoArm.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }

  delay(1000);
  
  stepperOne.step(stepsPerRevolution); // clockwise 
  stepperTwo.step(stepsPerRevolution);
  delay(500);

  stepperOne.step(-stepsPerRevolution); // counterclockwise
  stepperTwo.step(-stepsPerRevolution);
  delay(500);
  
}