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

// Define use the Potentiometer attached to Analogue Pin 0 to set the speed:
#define SpeedPin A0
int WaitTime = 2000; //Set a default wait time of 2000ms / 2 seconds
int WaitMultiplier = 5; // Define a waitime multiplier, depending on the properties of the potentiometer

//Set Step and Direction Pins for Motor 1
#define M1dirPin 11
#define M1stepPin 12

//Set Step and Direction Pins for Motor 2
#define M2dirPin 8
#define M2stepPin 9

//Set Step and Direction Pins for Motor 3
#define M3dirPin 5
#define M3stepPin 6

#define StepsPerRevolution 200 //Assumes that all motors are the same and have 200 steps per revolution / 1.8 degree steps

void setup() {
  // Declare motor pins as output:
  pinMode(M1stepPin, OUTPUT);
  pinMode(M1dirPin, OUTPUT);
  pinMode(M2stepPin, OUTPUT);
  pinMode(M2dirPin, OUTPUT);
  pinMode(M3stepPin, OUTPUT);
  pinMode(M3dirPin, OUTPUT);

  // Declare potentiometer pin as input
  pinMode(SpeedPin, INPUT);
}

void loop() { //The code will repeat indefinitely

  //Present the first target by spinning the first motor clockwise

        // Set the spinning direction for motor 1 clockwise:
        digitalWrite(M1dirPin, HIGH);

        // Spin the stepper motor 90 degrees:
        for (int i = 0; i < StepsPerRevolution/4; i++) {
          // These four lines result in 1 step as the stepper motor steps on the rising edge of a digital wave - Transition from Low to High:
          digitalWrite(M1stepPin, HIGH);
            delayMicroseconds(2000);
          digitalWrite(M1stepPin, LOW);
          delayMicroseconds(2000);
        }


//Wait before retracting the target, speed is set by the potentiometer
          WaitTime=analogRead(SpeedPin) * WaitMultiplier;
          delay(WaitTime);

          //Retract the first target by spinning the first motor anti-clockwise

          // Set the spinning direction for motor 1 anti-clockwise:
          digitalWrite(M1dirPin, LOW);

          // Spin the stepper motor 90 degrees:
          for (int i = 0; i < StepsPerRevolution/4; i++) {
            // These four lines result in 1 step as the stepper motor steps on the rising edge of a digital wave - Transition from Low to High:
            digitalWrite(M1stepPin, HIGH);
              delayMicroseconds(2000);
            digitalWrite(M1stepPin, LOW);
            delayMicroseconds(2000);
          }

//Wait before presenting the second target, speed is set by the potentiometer
          WaitTime=analogRead(SpeedPin) * WaitMultiplier;
          delay(WaitTime);



//Present the second target by spinning the second motor clockwise

        // Set the spinning direction for motor 2 clockwise:
        digitalWrite(M2dirPin, HIGH);

        // Spin the stepper motor 90 degrees:
        for (int i = 0; i < StepsPerRevolution/4; i++) {
          // These four lines result in 1 step as the stepper motor steps on the rising edge of a digital wave - Transition from Low to High:
          digitalWrite(M2stepPin, HIGH);
            delayMicroseconds(2000);
          digitalWrite(M2stepPin, LOW);
          delayMicroseconds(2000);
        }


//Wait before retracting the second target, speed is set by the potentiometer
          WaitTime=analogRead(SpeedPin) * WaitMultiplier;
          delay(WaitTime);

//Retract the second target by spinning the second motor anti-clockwise

          // Set the spinning direction for motor 2 anti-clockwise:
          digitalWrite(M2dirPin, LOW);

          // Spin the stepper motor 90 degrees:
          for (int i = 0; i < StepsPerRevolution/4; i++) {
            // These four lines result in 1 step as the stepper motor steps on the rising edge of a digital wave - Transition from Low to High:
            digitalWrite(M2stepPin, HIGH);
              delayMicroseconds(2000);
            digitalWrite(M2stepPin, LOW);
            delayMicroseconds(2000);
          }


//Wait before presenting the third target, speed is set by the potentiometer
          WaitTime=analogRead(SpeedPin) * WaitMultiplier;
          delay(WaitTime);


//Present the third target by spinning the third motor clockwise

        // Set the spinning direction for motor 3 clockwise:
        digitalWrite(M3dirPin, HIGH);

        // Spin the stepper motor 90 degrees:
        for (int i = 0; i < StepsPerRevolution/4; i++) {
          // These four lines result in 1 step as the stepper motor steps on the rising edge of a digital wave - Transition from Low to High:
          digitalWrite(M3stepPin, HIGH);
            delayMicroseconds(2000);
          digitalWrite(M3stepPin, LOW);
          delayMicroseconds(2000);
        }


//Wait before retracting the third target, speed is set by the potentiometer
         WaitTime=analogRead(SpeedPin) * WaitMultiplier;
          delay(WaitTime);

//Retract the third target by spinning the third motor anti-clockwise

          // Set the spinning direction for motor 3 anti-clockwise:
          digitalWrite(M3dirPin, LOW);

          // Spin the stepper motor 90 degrees:
          for (int i = 0; i < StepsPerRevolution/4; i++) {
            // These four lines result in 1 step as the stepper motor steps on the rising edge of a digital wave - Transition from Low to High:
            digitalWrite(M3stepPin, HIGH);
              delayMicroseconds(2000);
            digitalWrite(M3stepPin, LOW);
            delayMicroseconds(2000);
          }

//Wait again before restarting the sequence, speed is set by the potentiometer
          WaitTime=analogRead(SpeedPin) * WaitMultiplier;
          delay(WaitTime);


}