#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <AccelStepper.h>
#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
#define OLED_RESET    -1
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);


#define motorPin1  2 // IN1 on the ULN2003
#define motorPin2  18 // IN2 on the ULN2003
#define motorPin3  16 // IN3 on the ULN2003
#define motorPin4  23 // IN4 on the ULN2003

// Set up the stepper motor (4-wire configuration)
AccelStepper Stepper(AccelStepper::FULL4WIRE, motorPin1, motorPin2, motorPin3, motorPin4);

void setup() {

  if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { 
    Serial.println(F("SSD1306 allocation failed"));
      for(;;);
  }
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(SSD1306_WHITE);
                      
       
  Stepper.setMaxSpeed(1000);   
  Stepper.setAcceleration(500); 
  Stepper.setSpeed(50);       

                                
  displayMessage("Stepper Motor Ready");
}

void loop() {

  displayMessage("Rotating Clockwise");
  Stepper.moveTo(50);  
  while (Stepper.distanceToGo() != 0) {
    Stepper.run();
  }
  delay(1000);


  displayMessage("Rotating Counterclockwise");
  Stepper.moveTo(-200);  // Rotate back 200 steps
  while (Stepper.distanceToGo() != 0) {
     Stepper.run();
  }
  delay(1000);
 }


void displayMessage(String message) {
  display.clearDisplay();
  display.setCursor(0, 10);
  display.println(message);
  display.display();
}