/*
 Voltaat learn (http://learn.voltaat.com)
 Link for full tutorial:
 Stepper library:
 AccelStepper library:

 Tutorial: Control stepper motor with Arduino

 This sketch function is to control the stepper motor
 to move in one direction at a speed of 1000 steps per second
 and an acceleration of 200 steps per second square for 9 revolutions,
 then reverse its direction and repeat the movement

 Connections from the motor driver to the Arduino:
 • Motor driver GND pin (- pin) → Arduino GND pin
 • Motor driver VCC pin (+ pin) → Arduino 5V pin
 • Motor driver IN1 pin → Arduino pin 11
 • Motor driver IN2 pin → Arduino pin 10
 • Motor driver IN3 pin → Arduino pin 9
 • Motor driver IN4 pin → Arduino pin 8

*/

//Include the Arduino Stepper.h library
#include "Stepper.h"
//Include the AccelStepper library
#include "AccelStepper.h"

//Define the motor pins
//IN1 on the motor driver
#define MP1  11
//IN2 on the motor driver
#define MP2  10
//IN3 on the motor driver
#define MP3  9
//IN4 on the motor driver
#define MP4  8

//Define the interface type
#define MotorInterfaceType 8
//Define the pin sequence (IN1-IN3-IN2-IN4)
AccelStepper stepper = AccelStepper(MotorInterfaceType, MP1, MP3, MP2, MP4);
const int SPR = 2048;//Steps per revolution

//Commands inside void setup run once
void setup() {
 //Set the maximum motor speed in steps per second
 stepper.setMaxSpeed(1000);
 //Set the maximum acceleration in steps per second^2
 stepper.setAcceleration(200);
}

//Commands inside void loop run forever
void loop() {
 //Set the target motor position (9 full revolutions)
 stepper.moveTo(9 * SPR);
 //Run the motor to the target position
 stepper.runToPosition();
 //delay for 1 sec
 delay(1000);
 //Set the target motor position (9 full revolutions but in opposite direction)
 stepper.moveTo(-9 * SPR);
 // Run the motor to the target position
 stepper.runToPosition();
 //delay for 1 sec
 delay(1000);
}