#include <Stepper.h>

// Motor A
int ENA = 10;
int IN1 = 9;
int IN2 = 8;
int ENB = 5;
int IN3 = 7;
int IN4 = 6;

const int stepsPerRevolution = 180;

Stepper myStepper(stepsPerRevolution, IN1, IN2, IN3, IN4);

void setup ()
{
 pinMode (ENA, OUTPUT);
 pinMode (IN1, OUTPUT);
 pinMode (IN2, OUTPUT);
 pinMode (ENB, OUTPUT);
 pinMode (IN3, OUTPUT);
 pinMode (IN4, OUTPUT);

 myStepper.setSpeed(60);

 Serial.begin(115200);
}
 
void loop ()
{
  static uint8_t enter = 1;
  if (enter) {
    enter = 0;
    myStepper.step(stepsPerRevolution);
  }
  else {
    myStepper.step(-stepsPerRevolution+20);
    delay(500);
    myStepper.step(stepsPerRevolution-20);
    delay(500);
  }
}