#include <AccelStepper.h>

// Define stepper motor pins
#define X_STEP_PIN 3
#define X_DIR_PIN 2
#define Y_STEP_PIN 5
#define Y_DIR_PIN 4
#define Z_STEP_PIN 7
#define Z_DIR_PIN 6

// Define constants
#define STEPS_PER_REV 200    // Steps per revolution of the stepper motor
#define MAX_SPEED 1000       // Maximum speed in steps per second
#define ACCELERATION 100     // Acceleration in steps per second squared

// Create stepper motor objects
AccelStepper stepperX(AccelStepper::DRIVER, X_STEP_PIN, X_DIR_PIN);
AccelStepper stepperY(AccelStepper::DRIVER, Y_STEP_PIN, Y_DIR_PIN);
AccelStepper stepperZ(AccelStepper::DRIVER, Z_STEP_PIN, Z_DIR_PIN);

void setup() {
  // Initialize serial communication
  Serial.begin(9600);
  Serial.println("Initialized");

  // Set up stepper motor properties
  stepperX.setMaxSpeed(MAX_SPEED);
  stepperY.setMaxSpeed(MAX_SPEED);
  stepperZ.setMaxSpeed(MAX_SPEED);

  stepperX.setAcceleration(ACCELERATION);
  stepperY.setAcceleration(ACCELERATION);
  stepperZ.setAcceleration(ACCELERATION);

  // Move all steppers to the initial position
  stepperX.moveTo(1200);
  stepperY.moveTo(400);
  stepperZ.moveTo(-1800);
}

void loop() {
  // Move all motors to the target position
  if (stepperX.distanceToGo() == 0 && stepperY.distanceToGo() == 0 && stepperZ.distanceToGo() == 0) {
    stepperX.moveTo(-stepperX.currentPosition());
    stepperY.moveTo(-stepperY.currentPosition());
    stepperZ.moveTo(-stepperZ.currentPosition());
  }

  // Run steppers
  stepperX.run();
  stepperY.run();
  stepperZ.run();
}