/*
  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 <AccelStepper.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
int StepsRequired;

// 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, 10, 11, 12, 13);

void setup()
{
  // Nothing  (Stepper Library sets pins as outputs)
}

void loop()
{
  // Slow - 4-step CW sequence to observe lights on driver board
  steppermotor.setSpeed(1);
  StepsRequired  =  4;
  steppermotor.step(StepsRequired);
  delay(2000);

  // Rotate CW 1/2 turn slowly
  StepsRequired  =  STEPS_PER_OUT_REV / 2;
  steppermotor.setSpeed(100);
  steppermotor.step(StepsRequired);
  delay(1000);

  // Rotate CCW 1/2 turn quickly
  StepsRequired  =  - STEPS_PER_OUT_REV / 2;
  steppermotor.setSpeed(700);
  steppermotor.step(StepsRequired);
  delay(2000);

}