// Define pins for the motor or stepper control
#define ANeg 18
#define APos 5
#define BNeg 16
#define BPos 17

int counter = 0;
int limit = 222;
int tStep = 20;
bool going = true;

void checkCounter();

void setup() {
  // Initialize pins as OUTPUT
  pinMode(ANeg, OUTPUT);
  pinMode(APos, OUTPUT);
  pinMode(BNeg, OUTPUT);
  pinMode(BPos, OUTPUT);
}

void loop() {
  // Motor/stepper rotation control sequence
  while(going){
    // Step 1: Activate BPos
    digitalWrite(APos, LOW);
    digitalWrite(BPos, LOW);
    digitalWrite(ANeg, LOW);
    digitalWrite(BNeg, HIGH);
    counter += 1;
    checkCounter();
    delay(tStep);  // Delay for tStep milliseconds

    // Step 2: Activate ANeg
    digitalWrite(APos, LOW);
    digitalWrite(BPos, LOW);
    digitalWrite(ANeg, HIGH);
    digitalWrite(BNeg, LOW);
    counter += 1;
    checkCounter();
    delay(tStep);

    // Step 3: Activate BPos
    digitalWrite(APos, LOW);
    digitalWrite(BPos, HIGH);
    digitalWrite(ANeg, LOW);
    digitalWrite(BNeg, LOW);
    counter += 1;
    checkCounter();
    delay(tStep);

    // Step 4: Activate APos and BNeg
    digitalWrite(APos, HIGH);
    digitalWrite(BPos, LOW);
    digitalWrite(ANeg, LOW);
    digitalWrite(BNeg, HIGH);
    counter += 1;
    checkCounter();
    delay(tStep);
  }
  while(!going){
    // Step 4: Activate APos and BNeg
    digitalWrite(APos, HIGH);
    digitalWrite(BPos, LOW);
    digitalWrite(ANeg, LOW);
    digitalWrite(BNeg, HIGH);
    counter += 1;
    checkCounter();
    delay(tStep);

    // Step 3: Activate BPos
    digitalWrite(APos, LOW);
    digitalWrite(BPos, HIGH);
    digitalWrite(ANeg, LOW);
    digitalWrite(BNeg, LOW);
    counter += 1;
    checkCounter();
    delay(tStep);

    // Step 2: Activate ANeg
    digitalWrite(APos, LOW);
    digitalWrite(BPos, LOW);
    digitalWrite(ANeg, HIGH);
    digitalWrite(BNeg, LOW);
    counter += 1;
    checkCounter();
    delay(tStep);

    // Step 1: Activate BPos
    digitalWrite(APos, LOW);
    digitalWrite(BPos, LOW);
    digitalWrite(ANeg, LOW);
    digitalWrite(BNeg, HIGH);
    counter += 1;
    checkCounter();
    delay(tStep);  // Delay for tStep milliseconds
  }
  
}

void checkCounter(){
  if(counter >= limit && going == true){
    going = false;
    counter = (limit - 200) * -1;
  }
  else if(counter >= limit && going == false){
    going = true;
    counter = (limit - 200) * -1;
  }
}