#include <Arduino.h>
#define MOTOR_STEPS 200
#define MOTOR_ACCEL 2000
#define MOTOR_DECEL 1000
#define MICROSTEPS 2
#define DIR 8
#define STEP 9
#define SLEEP 13
#include "A4988.h"
#define MS1 10
#define MS2 11
#define MS3 12
int RPM =120;
A4988 stepper(MOTOR_STEPS, DIR, STEP, SLEEP, MS1, MS2, MS3);


void setup() {
    Serial.begin(9600);
    stepper.begin(RPM, MICROSTEPS);
    stepper.enable();
    stepper.setSpeedProfile(stepper.LINEAR_SPEED, MOTOR_ACCEL, MOTOR_DECEL);
    stepper.startRotate(360);

}

void loop() {
    stepper.startRotate(360);
    static int step = 0;
    unsigned wait_time = stepper.nextAction();
    if (wait_time){
        Serial.print("  step="); Serial.print(step++);
        Serial.print("  dt="); Serial.print(wait_time);
        Serial.print("  rpm="); Serial.print(stepper.getCurrentRPM());
        Serial.println();
    } else {
        stepper.disable();
        Serial.println("END");
        delay(3000);
        RPM=RPM*2;
    }

}