// Motor pins
const int dirPin1 = 2;
const int stepPin1 = 3;
const int dirPin2 = 4;
const int stepPin2 = 5;

// Button pins
const int button1Pin = 6; // Step Motor 1
const int button2Pin = 7; // Step Motor 2
const int toggleButtonPin = 8; // Toggle direction

// State variables
bool currentDirection = true;  // true = HIGH (forward), false = LOW (reverse)
bool lastToggleState = HIGH;

void setup() {
  // Motor pin modes
  pinMode(stepPin1, OUTPUT);
  pinMode(dirPin1, OUTPUT);
  pinMode(stepPin2, OUTPUT);
  pinMode(dirPin2, OUTPUT);

  // Button pin modes
  pinMode(button1Pin, INPUT_PULLUP);
  pinMode(button2Pin, INPUT_PULLUP);
  pinMode(toggleButtonPin, INPUT_PULLUP);

  // Set initial direction
  digitalWrite(dirPin1, currentDirection);
  digitalWrite(dirPin2, currentDirection);
}

void loop() {
  // Read toggle button state
  bool toggleState = digitalRead(toggleButtonPin);

  // On button press (rising edge)
  if (toggleState == LOW && lastToggleState == HIGH) {
    currentDirection = !currentDirection;  // Flip direction
    digitalWrite(dirPin1, currentDirection);
    digitalWrite(dirPin2, currentDirection);
    delay(200);  // Debounce
  }
  lastToggleState = toggleState;

  // Step motor 1 if button pressed
  if (digitalRead(button1Pin) == LOW) {
    stepMotor(stepPin1);
    delay(200);
  }

  // Step motor 2 if button pressed
  if (digitalRead(button2Pin) == LOW) {
    stepMotor(stepPin2);
    delay(200);
  }
}

void stepMotor(int stepPin) {
  digitalWrite(stepPin, HIGH);
  delayMicroseconds(800);
  digitalWrite(stepPin, LOW);
  delayMicroseconds(800);
}