#include <AccelStepper.h>

// Define pins for Nucleo C031C6
#define STEP_PIN 2  // D2
#define DIR_PIN 3   // D3

// Define the interface type (1 = Driver like A4988)
#define motorInterfaceType 1

// Create instance of the stepper
AccelStepper stepper(motorInterfaceType, STEP_PIN, DIR_PIN);

void setup() {
  Serial.begin(115200);
  Serial.println("STM32 Stepper Initialized...");

  // Set maximum speed and acceleration
  stepper.setMaxSpeed(1000);     // Steps per second
  stepper.setAcceleration(500);  // Steps per second squared
}

void loop() {
  // Move 400 steps (2 full rotations)
  if (stepper.distanceToGo() == 0) {
    delay(1000);
    stepper.moveTo(-stepper.currentPosition() + 400); 
    Serial.println("Moving...");
  }

  stepper.run(); // Must be called frequently
}