// Pin assignments

const int stepPin = 3; // pin where the STEP signal will be sent.

const int dirPin = 2; // Pin where the DIR signal will be wired.

const int enablePin = 8; // Pin used to enable A4988 driver (optional)

// Motor control parameters definitions

const int stepsPerRevolution = 200; // Set the number of steps for a complete 360rotation of a motor.

const int stepsPerQuarterTurn = 50; // number of steps taken to turn the motor 90 degrees (quarter turn).

const float rpm = 60; // The speed at which the motors are expected to turn, in RPM.

// How many millisecs should be passed between any two steps at maximum speed of 60rpms?

const int stepDelay = 60000 / (rpm * stepsPerRevolution); // the time between steps in milliseconds.

void setup() { 

//Defining pin Modes.

pinMode(stepPin, OUTPUT);

pinMode(dirPin, OUTPUT);

pinMode(enablePin, OUTPUT);

// This enables direction driver A4988 (active low) 

digitalWrite(enablePin, LOW); // This can enable the driver for the motor if pin from enabling is available. 

// Motor direction, this can be changed when necessary

digitalWrite(dirPin, HIGH); // In one direction, at a given moment. The other if the value is LOW. 

}
void loop() {

    // Execute two full 360° turns (720° = 400 steps)

    for (int i = 0; i < 2; i++) {

        // Each blast turns 90° (44 turn at each turn of seventy percent)

        for (int j = 0; j <= 3; j++) {

            rotate90();

            delay(1000); 

        }

    }

    // As succeeded with all the rotations, switch off the motor

    stopMotor();

    do{}while(true); //finish the code here

}

void rotate90() {

    // The movement is a right turn through an angle of 90° (50 steps)

    for (int step = 0; step < stepsPerQuarterTurn; step++) {

        digitalWrite(stepPin, HIGH);

        delayMicroseconds(stepDelay / 2); 

        digitalWrite(stepPin, LOW);

        delayMicroseconds(stepDelay / 2); 

    }

}

void stopMotor() {

    // Switch off the motor driver to halt the motor

    digitalWrite(enablePin, HIGH); // Switch off motor driver if enable pin is used.

}