#include "AccelStepper.h"
#include <MultiStepper.h>
#define pul1 10
#define dir1 2

#define pul2 3
#define dir2 4

#define pul3 5
#define dir3 6

#define stepsPerRevolution 1600
long gotoposition[2];
AccelStepper stepper2(1, 3, 4);
AccelStepper stepper3(1, 5, 6);
MultiStepper steppers;

#define LED_PIN1 8
#define LED_PIN2 9
#define LED_PIN3 13
#define BUTTON_PIN 7

void setup1() {
   pinMode(LED_PIN1, OUTPUT);
  pinMode(LED_PIN2, OUTPUT);
   pinMode(LED_PIN3, OUTPUT);
  pinMode(BUTTON_PIN, INPUT);

 
  pinMode(pul1, OUTPUT);
  pinMode(dir1, OUTPUT);

  pinMode(pul2, OUTPUT);
  pinMode(dir2, OUTPUT);

  pinMode(pul3, OUTPUT);
  pinMode(dir3, OUTPUT);

  //stepper2.setMaxSpeed(1000);
  //stepper3.setMaxSpeed(1000);


}

void setup()
{
  digitalWrite(LED_PIN1, HIGH);

    {
      steppers.addStepper(stepper2);
      steppers.addStepper(stepper3);
      stepper2.setMaxSpeed(200); 
      stepper3.setMaxSpeed(200);
      stepper2.setAcceleration(10);  
      stepper2.moveTo( -20000 );      
      while( digitalRead( BUTTON_PIN ) == LOW ) stepper2.run();
      stepper2.setCurrentPosition( 0 );   
        // start normal move}
    }

    {
        if (digitalRead(BUTTON_PIN) == HIGH) {
        digitalWrite(LED_PIN3, HIGH);
  digitalWrite(dir2, HIGH); //pasaka HIGH, paubos LOW
for (int i=0; i <1600; i++) {
    digitalWrite(pul2, HIGH);
    delayMicroseconds(200);
    digitalWrite(pul2, LOW);
    delayMicroseconds(200);}
             delay(1000);}

       else {
           digitalWrite(LED_PIN3, LOW); }
    }
{
  digitalWrite(dir1, LOW); 
for (int i=0; i <400; i++) {
    digitalWrite(pul1, HIGH);
    delayMicroseconds(200);
    digitalWrite(pul1, LOW);
    delayMicroseconds(200);}
}

  {
  stepper2.setCurrentPosition(0);
stepper3.setCurrentPosition(0);
  digitalWrite(dir2, LOW); //pasaka HIGH, paubos LOW
for (int i=0; i <1500; i++) {
    digitalWrite(pul2, HIGH);
    delayMicroseconds(200);
    digitalWrite(pul2, LOW);
    delayMicroseconds(200);}
             delay(1000);
  }
  

long gotoposition[2];
gotoposition[0] = -800; //steper2, 800(half.rev) = 1.03mm linear movement
gotoposition[1] = 160000; //stepper3
steppers.moveTo(gotoposition);
steppers.runSpeedToPosition();
  delay(500);

{
  digitalWrite(dir3, LOW); //CCW
  for (int i=0; i < 3200; i++) {
    digitalWrite(pul3, HIGH);
    delayMicroseconds(500);
    digitalWrite(pul3, LOW);
    delayMicroseconds(500);
  }
}
  delay(500);
  {
  digitalWrite(dir2, HIGH);
  for (int i=0; i < 1900; i++) {
    digitalWrite(pul2, HIGH);
    delayMicroseconds(500);
    digitalWrite(pul2, LOW);
    delayMicroseconds(500);
}
  }
  delay(3000);
}
void loop()
{}