/*
  Arduino | hardware-help
  Stepper Motor Randomly Changing Directions


  Sultan June 29, 2025— 7:17 PM
  I am using an ESP32, ULN2003, and a 28BYJ-48 Stepper Motor.
  I have it set up so if the left button is pressed then it will go
  reverse, if the right one pressed it will go forward (also if any
  of the two previous cases, the blue led turns on) and if neither
  are/aren't pressed it stays still. For some reason it just changes
  directions whenever it likes. This is my code:
*/


#include <Stepper.h>


const int STEPS = 2048;


Stepper stepper = Stepper(STEPS, 13, 12, 14, 27);

void setup() {
  Serial.begin(9600);
  pinMode(26, INPUT_PULLUP);
  pinMode(25, INPUT_PULLUP);
  pinMode(2, OUTPUT);
  stepper.setSpeed(20);

}

void loop() {

  int leftState = digitalRead(26);
  int rightState = digitalRead(25);

  if (leftState == 0 && rightState == 0) {
    digitalWrite(2, LOW);
    stepper.step(0);
  }

  else if (leftState == 1 && rightState == 0) {
    Serial.println("Turn Left");
    digitalWrite(2, HIGH);
    stepper.step(-512);
  }

  else if (leftState == 0 && rightState == 1) {
    Serial.println("Turn Right");
    digitalWrite(2, HIGH);
    stepper.step(512);
  }

  else if (leftState == 1 && rightState == 1) {
    digitalWrite(2, LOW);
    stepper.step(0);
  }

}