// defines pins numbers
#include <AccelStepper.h>
#include <MultiStepper.h>
#include <Bounce2.h>
#include "Arduino.h"


const int stepPin = 3; /////MOTOR 1 CLOCK
const int dirPin = 2;  //// MOTOR 1 DIRECTION

const int stepPin1 = 5; //// MOTOR 2 CLOCK
const int dirPin1 = 4; ///// MOTOR 2 DIRECTION

const int stepPin2 = 6; //// MOTOR 3 CLOCK
const int dirPin2 = 7;  //// MOTOR 3 DIRECTION

const int stepPin3 = 9; //// MOTOR 4 CLOCK
const int dirPin3 = 8;  //// MOTOR 4 DIRECTION

const int stepPin4 = 11; //// MOTOR 5 CLOCK
const int dirPin4 = 10;  //// MOTOR 5 DIRECTION


int sw = A0;//////switch 1
int sw1 = A1;/////switch 2
int sw2 = A2;//// switch 3
int sw3 = A3;//// switch 4
int sw4 = A4;//// switch 5

int sw_spare;

int State=0;
int State1=0;
int State2=0;
int State3=0;
int State4=0;

int Button;
int Button1;
int Button2;
int Button3;
int Button4;



void setup() {
  
  // Sets the two pins as Outputs
  
  pinMode(sw,INPUT);
  pinMode(sw1,INPUT);  
  pinMode(sw2,INPUT);
  pinMode(sw3,INPUT);
  pinMode(sw4,INPUT);


  pinMode(stepPin,OUTPUT); 
  pinMode(dirPin,OUTPUT);
 
  pinMode(stepPin1,OUTPUT); 
  pinMode(dirPin1,OUTPUT);

 pinMode(stepPin2,OUTPUT); 
  pinMode(dirPin2,OUTPUT);

  pinMode(stepPin3,OUTPUT); 
  pinMode(dirPin3,OUTPUT);


  pinMode(stepPin4,OUTPUT); 
  pinMode(dirPin4,OUTPUT);


  digitalWrite(dirPin,LOW);
  stepper();
  State=0;

  digitalWrite(dirPin1,LOW);
  stepper1(); 
  State1=0;

  digitalWrite(dirPin2,LOW);
  stepper2(); 
  State2=0;

  digitalWrite(dirPin3,LOW);
  stepper3(); 
  State3=0;

  digitalWrite(dirPin4,LOW);
  stepper3(); 
  State4=0;

}

void loop() {
  
  Button = digitalRead(sw);
  Button1 = digitalRead(sw1);
   Button2 = digitalRead(sw2);
    Button3 = digitalRead(sw3);
    Button4 = digitalRead(sw4);

  
/////////////////////////////////////////////////////////////////////// MOTOR 1
  if(Button==LOW && State==0){
  digitalWrite(dirPin,HIGH); 
  stepper(); 
  State=1;
  }

  if(Button==HIGH && State==1){
  digitalWrite(dirPin,LOW); 
  stepper();  
  State=0;
   }
/////////////////////////////////////////////////////////////// MOTOR 2
  if(Button1==LOW && State1==0){
  digitalWrite(dirPin1,HIGH); 
  stepper1(); 
  State1=1;
  }

  

if(Button1==HIGH && State1==1){
  digitalWrite(dirPin1,LOW);
  stepper1(); 
  State1=0;
   }

///////////////////////////////////////////////////////////MOTOR 3
   if(Button2==LOW && State2==0){
  digitalWrite(dirPin2,HIGH); 
  stepper2(); 
  State2=1;
  }

  

if(Button2==HIGH && State2==1){
  digitalWrite(dirPin2,LOW); 
  stepper2();  
  State2=0;
   }

/////////////////////////////////////////////////////////// MOTOR 4
   if(Button3==LOW && State3==0){
  digitalWrite(dirPin3,HIGH);  
  stepper3();
  State3=1;
  }

  

if(Button3==HIGH && State3==1){
  digitalWrite(dirPin3,LOW); 
  stepper3();
  State3=0;
   } 
        
}
////////////////////////////////////////////////////////// STEPPER CONTROL 
void stepper()
{
   for(int x = 0; x < 70; x++) {
    digitalWrite(stepPin,HIGH);
    delayMicroseconds(400);
    digitalWrite(stepPin,LOW);
    delayMicroseconds(400);
  }
}

void stepper1()
{
   for(int x = 0; x < 70; x++) {
    digitalWrite(stepPin1,HIGH);
    delayMicroseconds(400);
    digitalWrite(stepPin1,LOW);
    delayMicroseconds(400);
  }
  
}

void stepper2()
{
   for(int x = 0; x < 70; x++) {
    digitalWrite(stepPin2,HIGH);
    delayMicroseconds(400);
    digitalWrite(stepPin2,LOW);
    delayMicroseconds(400);
  }
  
}

void stepper3()
{
   for(int x = -10; x < -30; x++) {
    digitalWrite(stepPin3,HIGH);
    delayMicroseconds(200);
    digitalWrite(stepPin3,LOW);
    delayMicroseconds(200);
  }
  
}