Code

// Define pin connections & motor's steps per revolution
const int dirPin = 5;
const int stepPin = 6;
const int dirPinA = 7;
const int stepPinA = 8;
const int dirPinB = 9;
const int stepPinB = 10;
const int dc_enable1 = 11;
const int dc_enable2 = 12;
const int stepsPerRevolution = 200;
char Incoming_value ;
void setup()
{
    Serial.begin(9600);
  // Declare pins as Outputs
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(stepPinA, OUTPUT);
  pinMode(dirPinA, OUTPUT);
}
void loop()
{

   if(Serial.available() > 0)
  {
    Incoming_value = Serial.read();
  // Set motor direction clockwise

  if(Incoming_value == '0') {
    Incoming_value = Serial.read();
  // Spin motor slowly
  for(int x = 0; x < stepsPerRevolution; x++)
  {

         digitalWrite(dirPin, HIGH);
   // digitalWrite(dirPin, HIGH);
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(100);
  }

  }
  // Set motor direction counterclockwise

if(Incoming_value == '1') {
  // Spin motor quickly
    Incoming_value = Serial.read();
  for(int x = 0; x < stepsPerRevolution; x++)
  {
   digitalWrite(dirPin, LOW);
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(100);
  } }
  if(Incoming_value == '2') {
    Incoming_value = Serial.read();
  // Spin motor slowly
  for(int x = 0; x < stepsPerRevolution; x++)
  {

         digitalWrite(dirPinA, HIGH);
   // digitalWrite(dirPin, HIGH);
    digitalWrite(stepPinA, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPinA, LOW);
    delayMicroseconds(100);
  }

  }
  // Set motor direction counterclockwise

if(Incoming_value == '3') {
  // Spin motor quickly
    Incoming_value = Serial.read();
  for(int x = 0; x < stepsPerRevolution; x++)
  {
   digitalWrite(dirPinA, LOW);
    digitalWrite(stepPinA, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPinA, LOW);
    delayMicroseconds(100);
  } }
  if(Incoming_value == '4') {
    Incoming_value = Serial.read();
  // Spin motor slowly
  for(int x = 0; x < stepsPerRevolution; x++)
  {

         digitalWrite(dirPinB, HIGH);
   // digitalWrite(dirPin, HIGH);
    digitalWrite(stepPinB, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPinB, LOW);
    delayMicroseconds(100);
  }

  }
  // Set motor direction counterclockwise

if(Incoming_value == '5') {
  // Spin motor quickly
    Incoming_value = Serial.read();
  for(int x = 0; x < stepsPerRevolution; x++)
  {
   digitalWrite(dirPinB, LOW);
    digitalWrite(stepPinB, HIGH);
    delayMicroseconds(1000);
    digitalWrite(stepPinB, LOW);
    delayMicroseconds(100);
  } }
  if(Incoming_value == '6') {

    Incoming_value = Serial.read();

   digitalWrite(dc_enable1, LOW);
    digitalWrite(dc_enable2, HIGH);
    delay(5000);

   }
  if(Incoming_value == '7') {

    Incoming_value = Serial.read();

   digitalWrite(dc_enable1, LOW);
    digitalWrite(dc_enable2, LOW);

  }
}}
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