#include <AccelStepper.h>
#include <MultiStepper.h>

// EG X-Y position bed driven by 2 steppers
// Alas its not possible to build an array of these with different pins for each :-(
/*const uint8_t dir = 2, step = 3, sleep = 7, ms1 = 6, ms2 = 5, ms3 = 4;
const uint8_t step[];
const uint8_t dir[];*/
const uint8_t en[] = {38, A2, A8, 24, 30};
float nSteps = 0.0f;

AccelStepper stepper1(AccelStepper::FULL2WIRE, 54, 55);
AccelStepper stepper2(AccelStepper::FULL2WIRE, 60, 61);
//a4988 driver(ms1, ms2, ms3, sleep, 54, 55, 38);

// Up to 10 steppers can be handled as a group by MultiStepper
MultiStepper steppers;

void setup() {
  // Configure each stepper
  stepper1.setMaxSpeed(1000);
  stepper2.setMaxSpeed(1000);

  // Then give them to MultiStepper to manage
  steppers.addStepper(stepper1);
  steppers.addStepper(stepper2);

  pinMode(13, OUTPUT);
  //Habilitando 
  for(int i = 0; i < (int)sizeof(en); i++){
    pinMode(en[i], OUTPUT);
    digitalWrite(en[i], LOW);
  }

  digitalWrite(13, HIGH);

  Serial.begin(115200);
}

void loop() {
  long positions[2]; // Array of desired stepper positions
  
  positions[0] = 1000;
  positions[1] = 50;
  steppers.moveTo(positions);
  steppers.runSpeedToPosition(); // Blocks until all are in position
  delay(1000);
  
  // Move to a different coordinate
  positions[0] = -100;
  positions[1] = 100;
  steppers.moveTo(positions);
  steppers.runSpeedToPosition(); // Blocks until all are in position
  delay(1000);
}