#define STEP_PIN 3  // Connect A4988 STEP pin to Arduino D3
#define DIR_PIN 4   // Connect A4988 DIR pin to Arduino D4
#define EN_PIN 8    // Connect A4988 ENABLE pin to Arduino D8 (optional)

const int stepsPerRevolution = 200;  // 200 steps per revolution for 1.8° stepper motor
const int microstepping = 1;         // Adjust this if you're using microstepping (1, 2, 4, 8, 16)

void setup() {
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(EN_PIN, OUTPUT);

  digitalWrite(EN_PIN, LOW);  // Enable the motor driver (LOW to enable, HIGH to disable)
  digitalWrite(DIR_PIN, HIGH);  // Set initial direction
  Serial.begin(9600);
  Serial.println("A4988 stepper motor ready...");
}

void loop() {
  digitalWrite(DIR_PIN, HIGH);
  Serial.println("Moving clockwise...");
  rotateMotor(stepsPerRevolution * microstepping);  // Move 1 full revolution clockwise
  delay(1000);

  Serial.println("Moving counterclockwise...");
  digitalWrite(DIR_PIN, LOW);  // Change direction
  rotateMotor(stepsPerRevolution * microstepping);  // Move 1 full revolution counterclockwise
  delay(1000);
}

// Function to pulse STEP pin to rotate motor
void rotateMotor(int steps) {
  for (int i = 0; i < steps; i++) {
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(800);  // Adjust delay for speed control
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(800);
  }
}