// Example sketch to control a stepper motor with A4988 stepper motor driver 
// and Arduino without a library. 
// More info: https://www.makerguides.com

// Define stepper motor connections and steps per revolution:
#define M1dirPin 8
#define M1stepPin 9
#define M1stepsPerRevolution 200

#define M2dirPin 11
#define M2stepPin 12
#define M2stepsPerRevolution 200

void setup() {
  // Declare pins as output:
  pinMode(M1stepPin, OUTPUT);
  pinMode(M1dirPin, OUTPUT);
  pinMode(M2stepPin, OUTPUT);
  pinMode(M2dirPin, OUTPUT);
}

void loop() {
  // Set the spinning direction clockwise:
  digitalWrite(M1dirPin, HIGH);
 digitalWrite(M2dirPin, HIGH);

  // Spin the stepper motor 1 revolution slowly:
  for (int i = 0; i < M1stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(M1stepPin, HIGH);
     digitalWrite(M2stepPin, HIGH);
    delayMicroseconds(2000);
    digitalWrite(M1stepPin, LOW);
     digitalWrite(M2stepPin, LOW);
    delayMicroseconds(2000);
  }

  delay(1000);

  // Set the spinning direction counterclockwise:
  digitalWrite(M1dirPin, LOW);
    digitalWrite(M2dirPin, LOW);

  // Spin the stepper motors 1 revolution quickly:
  for (int i = 0; i < M1stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(M1stepPin, HIGH);
     digitalWrite(M2stepPin, HIGH);
    delayMicroseconds(1000);
    digitalWrite(M1stepPin, LOW);
     digitalWrite(M2stepPin, LOW);
    delayMicroseconds(1000);
  }

  delay(1000);

  // Set the spinning direction clockwise:
  digitalWrite(M1dirPin, HIGH);
 digitalWrite(M2dirPin, HIGH);
  // Spin the stepper motor 5 revolutions fast:
  for (int i = 0; i < 5 * M1stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(M1stepPin, HIGH);
    digitalWrite(M2stepPin, HIGH);
    delayMicroseconds(500);
    digitalWrite(M1stepPin, LOW);
    digitalWrite(M2stepPin, LOW);
    delayMicroseconds(500);
  }

  delay(1000);

  // Set the spinning direction counterclockwise:
  digitalWrite(M1dirPin, LOW);
  digitalWrite(M2dirPin, LOW);

  //Spin the stepper motor 5 revolutions fast:
  for (int i = 0; i < 5 * M1stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(M1stepPin, HIGH);
     digitalWrite(M2stepPin, HIGH);
    delayMicroseconds(500);
    digitalWrite(M1stepPin, LOW);
    digitalWrite(M2stepPin, LOW);
    delayMicroseconds(500);
  }

  delay(1000);
}