#include <AccelStepper.h>

#define pul1 17
#define pul2 0
#define dir1 16
#define dir2 4

AccelStepper stepper(1,pul1,dir1);
AccelStepper stepper2(1,pul2,dir2);


void setup() {
  
  stepper.setMaxSpeed(200);  // Maximum speed (steps per second)
  stepper.setAcceleration(500);  // Acceleration (steps per second^2)
  stepper.moveTo(0);
  stepper2.moveTo(0); 
  stepper2.setMaxSpeed(200);  // Maximum speed (steps per second)
  stepper2.setAcceleration(500);  // Acceleration (steps per second^2)

  
}

void loop() {

  if (stepper.distanceToGo() == 0) {

        delay(2000);
        // If the motor has reached the target, move to the next position
        static int positions[] = {200, -200, 500, -500};  // Array of positions to move to
        static int currentPosIndex = 0;
        stepper.move(positions[currentPosIndex]);
        // Update to the next position in the array
        currentPosIndex = (currentPosIndex + 1) % (sizeof(positions) / sizeof(positions[0]));
        
        
    }

    // Run the motor to the target position
    stepper.run();

    if (stepper2.distanceToGo() == 0) {

      delay(2000);
      // If the motor has reached the target, move to the next position
      static int _positions[] = {-200, 200, -500, 500}; ;  // Array of positions to move to
      static int _currentPosIndex = 0;
      stepper2.move(_positions[_currentPosIndex]);
      //     // Update to the next position in the array
      _currentPosIndex = (_currentPosIndex + 1) % (sizeof(_positions) / sizeof(_positions[0]));
          
        
    };

    // // Run the motor to the target position
    stepper2.run();

}