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	- Project: "Stepper Control"
	- Source Code compiled for: Arduino Mega
	- Source Code created on: 2024-01-05 12:37:53

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
	/* speed of motor will be 500, motor will do 3 */
	/* rotation then 2 sec delay then 3 rotation then */
	/* delay then 3 rotation then delay then 3 rotation */
	/* then 11 rotation with high speed */
/****** END SYSTEM REQUIREMENTS *****/

/****** DEFINITION OF LIBRARIES *****/
#include 
#include 

/****** SYSTEM REQUIREMENTS *****/
// Speed of motor will be 500, motor will do 3 rotations then 2 sec delay then 3 rotations then delay then 3 rotations then 11 rotations with high speed
const float rotationSpeed = 500.0;
const int numRotations = 3;
const int delayTime = 2000;
const int highSpeedRotations = 11;

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

/***** DEFINITION OF DIGITAL OUTPUT PINS *****/
const uint8_t driver_A4988StepperMotorDriver_STEP_PIN_D8 = 8;
const uint8_t driver_A4988StepperMotorDriver_DIR_PIN_D9 = 9;

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
AccelStepper stepper1;
AccelStepper stepper2(AccelStepper::FULL4WIRE, 6, 7, 8, 9);
AccelStepper stepper3(AccelStepper::FULL2WIRE, 10, 11);

void setup(void)
{
    // put your setup code here, to run once:
    pinMode(driver_A4988StepperMotorDriver_STEP_PIN_D8, OUTPUT);
    pinMode(driver_A4988StepperMotorDriver_DIR_PIN_D9, OUTPUT);

    stepper1.setMaxSpeed(rotationSpeed);
    stepper1.setAcceleration(100.0);
    stepper1.moveTo(numRotations * 200); // 3 rotations

    stepper2.setMaxSpeed(rotationSpeed);
    stepper2.setAcceleration(100.0);
    stepper2.moveTo(numRotations * 200); // 3 rotations

    stepper3.setMaxSpeed(rotationSpeed);
    stepper3.setAcceleration(100.0);
    stepper3.moveTo(numRotations * 200); // 3 rotations
}

void loop(void)
{
    // put your main code here, to run repeatedly:
    if (stepper1.distanceToGo() == 0)
    {
        delay(delayTime); // 2 seconds delay
        stepper1.moveTo(numRotations * 200); // 3 rotations
    }
    stepper1.run();
    stepper2.run();
    stepper3.run();

    // High speed rotation
    if (stepper1.currentPosition() >= numRotations * 200)
    {
        stepper1.setMaxSpeed(1000.0);
        stepper1.moveTo(highSpeedRotations * 200); // 11 rotations
    }
}