#define FORWARD true
#define REVERSE false
int directionPin              = 4;
byte stepPin                  = 5;
int stepsPerRevolution        = 200;
byte microstepping            = 16;

class StepperMotor {
  private:
    int dirPin;
    int stepPin;
    int stepsPerRevolution;
    int microstepping;

  public:
    StepperMotor(int dir, int step, int steps, int microstep) {
      dirPin                  = dir;
      stepPin                 = step;
      stepsPerRevolution      = steps;
      microstepping           = microstep;

      pinMode(dirPin, OUTPUT);
      pinMode(stepPin, OUTPUT);
    }

    void motor(bool direction, int degrees, float speed) {
      int steps = map(degrees, 0, 360, 0, stepsPerRevolution * microstepping);
      float stepDelay = (100 - (speed*10));
      Serial.println(stepDelay);
      digitalWrite(dirPin, direction);
      long timer = millis();
      for (int i = 0; i < steps; i++) {
        digitalWrite(stepPin, HIGH);
        delayMicroseconds(500);
        digitalWrite(stepPin, LOW);
        delayMicroseconds(stepDelay*10);

      }
      int tunrs = steps * microstepping - stepsPerRevelation * microstepping;
      Serial.println(millis() - timer);
    }
};
StepperMotor motor1(directionPin, stepPin, stepsPerRevolution, microstepping);
void setup(){
  delay(5000);
  Serial.begin(115200);
}

void loop(){
  motor1.motor(FORWARD, 360, 1);
  delay(5000);
  motor1.motor(REVERSE, 360, 10);
  delay(5000);

}