#include <Servo.h>
#include <Stepper.h>
#include <LiquidCrystal_I2C.h>

int step = 2;
int dir =3;

Servo servo1; 
Servo servo2; 

int delay_time =0;

int pot = A0;

int steps=0;

LiquidCrystal_I2C lcd(0x27, 20, 4);

void setup() {
  // put your setup code here, to run once:
  servo1.attach(9);
  servo2.attach(10);
  servo1.write(0);  // Center position
  servo2.write(0);
  pinMode(step, OUTPUT);
  pinMode(dir, OUTPUT);

  lcd.init();
  lcd.backlight();
  lcd.setCursor(4, 0);
  lcd.print("stepper stats");
}

void loop() {
  // put your main code here, to run repeatedly:
        delay_time= map(analogRead(pot),0,1023,100,10);
        digitalWrite(dir, HIGH);
        digitalWrite(step, HIGH);
        delay(delay_time);
        digitalWrite(step, LOW);
        delay(delay_time);

         if(steps==200){
  
            steps=0;          
        }
        else{
          steps++;
        }
        if(steps>=0  && steps<=100){
          
          servo1.write(map(steps, 0, 100, 0, 180));
           if(steps==100){
            servo1.write(0);
          }
        }
        if(steps>=100  && steps<=200){
          
          servo2.write(map(steps, 100, 200, 0, 180));
          if(steps==200){
            servo2.write(0);
            steps=0;
          }
        }
        float stepsPerDegree = 200 / 360.0; 
        float angle= steps/stepsPerDegree;

        lcd.setCursor(0, 1);
        lcd.print("speed: ");
        lcd.print(map(analogRead(pot),0,1023,10,100));
        lcd.setCursor(0, 2);
        lcd.print("            ");
        lcd.setCursor(0, 2);
        lcd.print("angle: ");
        lcd.print(angle);
        lcd.setCursor(0, 3);
        lcd.print("            ");
        lcd.setCursor(0, 3);
        lcd.print("steps: ");
        lcd.print(steps);
}