//Code for the stepper motor
//28BYJ-48 Unipolar Stepper with ULN2003 Driver (based on Arduino Stepper Library)

#include <Stepper.h> //include the Arduino Stepper Library - sets the four I/O pins as outputs
 
// Define constants
 
const float STEPS_PER_REV = 32; // Number of steps per internal motor revolution
 
const float GEAR_RED = 64; //  Gear Reduction
 
const float STEPS_PER_OUT_REV = STEPS_PER_REV * GEAR_RED; // Final output of the motor shaft after gear reduction 32x64
 
// Define Variables
 
int StepsRequired; // Number of Steps I want the motor to make
 
// Create Instance of Stepper Class

Stepper steppermotor(STEPS_PER_REV, 8, 10, 9, 11); // Pins entered in sequence 1-3-2-4 for proper step sequencing
 
void setup()
{
// Nothing  (Stepper Library sets pins as outputs)
}
 
void loop()
{
  // Slow - 10-step CW sequence to observe lights on driver board
  steppermotor.setSpeed(1); //speed to 1
  StepsRequired  =  10; //10 steps
  steppermotor.step(StepsRequired);
  delay(200);
 
   // Rotate CCW 1/2 turn slowly
  StepsRequired  =  - STEPS_PER_OUT_REV / 2; // half of the full rotation
  steppermotor.setSpeed(50);   //speed to 50
  steppermotor.step(StepsRequired);
  delay(1000);
  
}