#include <AccelStepper.h>
#include <Servo.h>

// Define stepper motor connections and motor interface type
#define dirPin1 2
#define stepPin1 3
#define dirPin2 4
#define stepPin2 5
int stepsPerRotation = 200;
int increaseStep = 500;

// Define servo motor pin
#define servoPin1 9
#define servoPin2 10

// Create stepper motor instances
AccelStepper stepper1(AccelStepper::DRIVER, stepPin1, dirPin1);
AccelStepper stepper2(AccelStepper::DRIVER, stepPin2, dirPin2);

// Create servo motor instance
Servo servo1;
Servo servo2;

void setup() {
  Serial.begin(9600);
  // Set max speed and acceleration for stepper motors
  stepper1.setMaxSpeed(1000);
  stepper1.setAcceleration(500);
  stepper2.setMaxSpeed(1000);
  stepper2.setAcceleration(500);

  // Attach the servo motor
  servo1.attach(servoPin1);
  servo2.attach(servoPin2);
  servo1.write(0); // Initialize the servo at 0 degrees
  servo2.write(0); // Initialize the servo at 0 degrees
}

void loop() 
{
  servo1.write(0);
  servo2.write(0);
  delay(500);
  stepsPerRotation += 200;
  stepper1.moveTo(-stepsPerRotation);
  stepper2.moveTo(stepsPerRotation);

  while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
    stepper1.run();
    stepper2.run();
  }

  servo1.write(90);
  servo2.write(90);
  delay(2000);
}