#include <AccelStepper.h>  

// Define stepper motor connections and motor interface type  
#define MOTOR1_STEP_PIN 2   
#define MOTOR1_DIR_PIN 3   

#define MOTOR2_STEP_PIN 6  
#define MOTOR2_DIR_PIN 7   

// Define button pins  
#define BUTTON1_PIN 9  
#define BUTTON2_PIN 10  
#define BUTTON3_PIN 11  
#define BUTTON4_PIN 12  
#define MOVE_FORWARD_PIN 14  
#define MOVE_BACKWARD_PIN 15  
#define RESET_MOTORS_PIN 16  

// Define LED pins  
#define LED1_PIN A5  
#define LED2_PIN A6   
#define LED3_PIN A7   
#define LED4_PIN A8   
#define LED_MOVE_FORWARD_PIN A10  
#define LED_MOVE_BACKWARD_PIN A11  
#define LED_RESET_PIN 52  

// Create stepper motor objects  
AccelStepper motor1(AccelStepper::DRIVER, MOTOR1_STEP_PIN, MOTOR1_DIR_PIN);  
AccelStepper motor2(AccelStepper::DRIVER, MOTOR2_STEP_PIN, MOTOR2_DIR_PIN);  

// Define positions  
const int position1 = 0;  
const int position2 = 200; // Adjust based on your motor's step count  
const int position3 = 400; // Adjust based on your motor's step count  

void setup() {  
    // Initialize motors  
    motor1.setMaxSpeed(2000);  
    motor2.setMaxSpeed(2000);  
    
    // Set button pins as input  
    pinMode(BUTTON1_PIN, INPUT_PULLUP);  
    pinMode(BUTTON2_PIN, INPUT_PULLUP);  
    pinMode(BUTTON3_PIN, INPUT_PULLUP);  
    pinMode(BUTTON4_PIN, INPUT_PULLUP);  
    pinMode(MOVE_FORWARD_PIN, INPUT_PULLUP);  
    pinMode(MOVE_BACKWARD_PIN, INPUT_PULLUP);  
    pinMode(RESET_MOTORS_PIN, INPUT_PULLUP);  
    
    // Set LED pins as output  
    pinMode(LED1_PIN, OUTPUT);  
    pinMode(LED2_PIN, OUTPUT);  
    pinMode(LED3_PIN, OUTPUT);  
    pinMode(LED4_PIN, OUTPUT);  
    pinMode(LED_MOVE_FORWARD_PIN, OUTPUT);  
    pinMode(LED_MOVE_BACKWARD_PIN, OUTPUT);  
    pinMode(LED_RESET_PIN, OUTPUT);  
    
    // Start motors at position 1  
    motor1.moveTo(position1);  
    motor2.moveTo(position1);  
}  

void loop() {  
    // Run both motors  
    motor1.run();  
    motor2.run();  

    // Check Button 1  
    if (digitalRead(BUTTON1_PIN) == LOW) {  
        digitalWrite(LED1_PIN, HIGH); // Turn on LED1  
        delay(500); // Wait 1 second  
        
        // Move both motors to position 2  
        motor1.moveTo(position2);  
        motor2.moveTo(position2);  
        
        // Wait until both motors reach the target position  
        while (motor1.distanceToGo() != 0 || motor2.distanceToGo() != 0) {  
            motor1.run();  
            motor2.run();  
        }  
        
        delay(1000); // Wait 1 second  

        // Gradually raise motor 1  
        while (digitalRead(BUTTON2_PIN) == HIGH) {  
            motor1.move(10); // Move up 10 steps  
            motor1.run();  
            motor2.run(); // Keep motor 2 running  
            delay(100); // Wait 100 ms  
        }  
        delay(500); // Wait 2 seconds  

        // Lower motor 1 to match motor 2  
        motor1.moveTo(motor2.currentPosition());  
        while (motor1.distanceToGo() != 0) {  
            motor1.run();  
            motor2.run();  
        }  
        delay(500); // Wait 2 seconds  

        // Move both motors down to position 3  
        motor1.moveTo(position3);  
        motor2.moveTo(position3);  
        while (motor1.distanceToGo() != 0 || motor2.distanceToGo() != 0) {  
            motor1.run();  
            motor2.run();  
        }  
        digitalWrite(LED1_PIN, LOW); // Turn off LED1  
    }  

    // Check Move Forward Button  
    if (digitalRead(MOVE_FORWARD_PIN) == LOW) {  
        digitalWrite(LED_MOVE_FORWARD_PIN, HIGH); // Turn on forward LED  
        motor1.move(10); // Move both motors forward by 10 steps  
        motor2.move(10);  
        delay(100); // Wait 100 ms  
        digitalWrite(LED_MOVE_FORWARD_PIN, LOW); // Turn off forward LED  
    }  

    // Check Move Backward Button  
    if (digitalRead(MOVE_BACKWARD_PIN) == LOW) {  
        digitalWrite(LED_MOVE_BACKWARD_PIN, HIGH); // Turn on backward LED  
        motor1.move(-10); // Move both motors backward by 10 steps  
        motor2.move(-10);  
        delay(100); // Wait 100 ms  
        digitalWrite(LED_MOVE_BACKWARD_PIN, LOW); // Turn off backward LED  
    }  

    // Check Reset Motors Button  
    if (digitalRead(RESET_MOTORS_PIN) == LOW) {  
        digitalWrite(LED_RESET_PIN, HIGH); // Turn on reset LED  
        motor1.moveTo(position1); // Reset motor1 to position 1  
        motor2.moveTo(position1); // Reset motor2 to position 1  
        while (motor1.distanceToGo() != 0 || motor2.distanceToGo() != 0) {  
            motor1.run();  
            motor2.run();  
        }  
        digitalWrite(LED_RESET_PIN, LOW); // Turn off reset LED  
    }  

    // Check Button 2 (optional for demonstration)  
    if (digitalRead(BUTTON2_PIN) == LOW) {  
        digitalWrite(LED2_PIN, HIGH); // Turn on LED2  
        delay(1000); // Wait 1 second  
        digitalWrite(LED2_PIN, LOW); // Turn off LED2  
    }  

    // Check Button 3  
    if (digitalRead(BUTTON3_PIN) == LOW) {  
        digitalWrite(LED3_PIN, HIGH); // Turn on LED3  
        delay(1000); // Wait 5 seconds  
        
        // Move both motors back to position 1  
        motor1.moveTo(position1);  
        motor2.moveTo(position1);  
        while (motor1.distanceToGo() != 0 || motor2.distanceToGo() != 0) {  
            motor1.run();  
            motor2.run();  
        }  
        
        digitalWrite(LED3_PIN, LOW); // Turn off LED3  
    }  

    // Check Button 4 (optional for demonstration)  
    if (digitalRead(BUTTON4_PIN) == LOW) {  
        digitalWrite(LED4_PIN, HIGH); // Turn on LED4  
        delay(1000); // Wait 1 second  
        digitalWrite(LED4_PIN, LOW); // Turn off LED4  
    }  
}