/*Example sketch to control a stepper motor with A4988/DRV8825 stepper motor driver and Arduino without a library. More info: https://www.makerguides.com */

#include <Servo.h>

Servo myservo;  // create servo object to control a servo
int pos = 45;    // variable to store the servo position

// define microstepping signal pins
#define dirPin 26
#define stepPin 27
#define sleepPin 28
#define resetPin 29
#define m0 0
#define m1 7
#define m2 6
#define stepsPerRevolution 200




void setup() {
  myservo.attach(3);  // attaches the servo on pin 26 to the servo object
  
  // Declare pins as output:
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(sleepPin, OUTPUT);
  pinMode(resetPin, OUTPUT);
  pinMode(m0, OUTPUT);
  pinMode(m1, OUTPUT);
  pinMode(m2, OUTPUT);
  
}

void loop() {
  digitalWrite(sleepPin, HIGH);
  digitalWrite(resetPin, HIGH);
  // Set 1/16 microstepping
  digitalWrite(m0, LOW);
  digitalWrite(m1, LOW);
  digitalWrite(m2, HIGH);
  // Set the spinning direction clockwise:
  digitalWrite(dirPin, HIGH);

  // Spin the stepper motor 1 revolution slowly:
  for (int i = 0; i < stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(500);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(500);
  }
  
  for (pos = 45; pos <= 90; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  
  delay(2000);

  // Set the spinning direction counterclockwise:
  digitalWrite(dirPin, LOW);

  // Spin the stepper motor 1 revolution quickly:
  for (int i = 0; i < stepsPerRevolution; i++) {
    // These four lines result in 1 step:
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(500);
    digitalWrite(stepPin, LOW);
    delayMicroseconds(500);
  }

  for (pos = 90; pos >= 45; pos -= 1) { // goes from 180 degrees to 0 degrees
    myservo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }  

delay(2000);
}