/*
  Stepper Motor Demonstration 1
  Stepper-Demo1.ino
  Demonstrates 28BYJ-48 Unipolar Stepper with ULN2003 Driver
  Uses Arduino Stepper Library
 
  DroneBot Workshop 2018
  https://dronebotworkshop.com
*/
 
//Include the Arduino Stepper Library
#include <Stepper.h>
 
// Define Constants
 
// Number of steps per internal motor revolution 
const float STEPS_PER_REV = 32; 
 
//  Amount of Gear Reduction
const float GEAR_RED = 64;
 
// Number of steps per geared output rotation
const float STEPS_PER_OUT_REV = STEPS_PER_REV * GEAR_RED;
 
// Define Variables
 
// Number of Steps Required

const int stepper_motor_speed = 600;
int pos = 1;
const int StepsRequired  =  STEPS_PER_OUT_REV / 4;
// Create Instance of Stepper Class
// Specify Pins used for motor coils
// The pins used are 8,9,10,11 
// Connected to ULN2003 Motor Driver In1, In2, In3, In4 
// Pins entered in sequence 1-3-2-4 for proper step sequencing
 
Stepper steppermotor(STEPS_PER_REV, 6, 8, 12, 13);
 
void setup()
{
// Nothing  (Stepper Library sets pins as outputs)
}
void next_step()
{
  if(pos == 1)
  {
    steppermotor.setSpeed(stepper_motor_speed);
    steppermotor.step(StepsRequired);
    pos = 2;
  }
  else if(pos ==2)
  {
    steppermotor.setSpeed(stepper_motor_speed);
    steppermotor.step(-1*StepsRequired);
    pos = 3;
  }
  else if(pos == 3)
  {
    steppermotor.setSpeed(stepper_motor_speed);
    steppermotor.step(-1*StepsRequired);
    pos = 4;
  }
  else if(pos == 4)
  {
    steppermotor.setSpeed(stepper_motor_speed);
    steppermotor.step(StepsRequired);
    pos = 1;
  }
}
void loop()
{
  
  next_step();
  delay(1000);
 
}