#define IN1 21
#define IN2 26
#define IN3 33
#define IN4 34

const int stepsPerRevolution =200;

int stepSequence[4][4]={
  {1,0,1,0},
  {0,1,1,0},
  {0,1,0,1},
  {1,0,0,1},
};

void setup(){
  Serial.begin(9600);
  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT);
  pinMode(IN3,OUTPUT);
  pinModde(IN4,OUTPUT);

  serial.println("stepper motor continuous rotation started...");
}
void loop(){

  rotatedStepper(stepsPerRevolution, true);
  delay(500);
  
  rotateStepper(stepsPerRevolution, false);
  delay(500);

}
 void rotateStepper(int steps,bool clocvkwise){
  for(int i=0;i<steps;i++){
    int stepIndex=clockwise ? i% 4:(3-(i%4));
    stepMotor(stepIndex);
    delay(5);

  }
 }
 
  void stepMotor(int step){
    digitalWrite(IN1, stepSequence[step][0]);
    digitalWrite(IN2,stepSequence[step][1]);
    digitalWrite(IN3,stepSequence[step][2]);
    digitalWrite(IN4,stepSequence[step][3]);
    
  }



















}