#include <AccelStepper.h>

// Define stepper motors and the pins they are connected to
AccelStepper stepper1(1, 9, 8);  // STEP, DIR
AccelStepper stepper2(1, 3, 5);  // Adjust pins as per your wiring
AccelStepper stepper3(1, 10, 11); // Adjust pins as per your wiring
AccelStepper stepper4(1, 12, 13); // Adjust pins as per your wiring

// Variables to control speed, acceleration, and number of steps for each motor
int maxSpeed = 100;         // Maximum speed (steps per second)
int acceleration = 250;     // Acceleration (steps per second^2)
int stepsPerRevolution = 200; // Number of steps per revolution (adjust based on your stepper motor)
int numRotationsForward = 10; // Number of rotations to move forward
int numRotationsBackward = 5; // Number of rotations to move backward

void setup() {
  // Set up each stepper motor with max speed, acceleration, and initial position
  setupMotor(stepper1);
  setupMotor(stepper2);
  setupMotor(stepper3);
  setupMotor(stepper4);
  // Move each stepper motor forward by the specified number of steps
  moveStepper(stepper1, stepsPerRevolution * numRotationsForward);
  // moveStepper(stepper2, stepsPerRevolution * numRotationsForward);
  // moveStepper(stepper3, stepsPerRevolution * numRotationsForward);
  // moveStepper(stepper4, stepsPerRevolution * numRotationsForward);

  delay(1000); // Pause for 1 second

  // Move each stepper motor backward by the specified number of steps
  moveStepper(stepper1, stepsPerRevolution * (numRotationsForward - numRotationsBackward));
  moveStepper(stepper2, stepsPerRevolution * (numRotationsForward - numRotationsBackward));
  moveStepper(stepper3, stepsPerRevolution * (numRotationsForward - numRotationsBackward));
  moveStepper(stepper4, stepsPerRevolution * (numRotationsForward - numRotationsBackward));

  delay(1000); // Pause for 1 second
}

void loop() {
  
}

// Function to set up the motor parameters
void setupMotor(AccelStepper &stepper) {
  stepper.setMaxSpeed(maxSpeed);
  stepper.setAcceleration(acceleration);
  stepper.setCurrentPosition(0); // Set initial position to 0
}

// Function to move the stepper motor to a specified position relative to its current position
void moveStepper(AccelStepper &stepper, int targetPosition) {
  stepper.moveTo(targetPosition); // Set the target position relative to current position
  stepper.runToPosition();       // Move to the target position with acceleration and deceleration
}