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

// Define stepper motor connections and steps per revolution:
#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() {
  // 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);
  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);
  }

  delay(1000);

  // 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);
  }

  delay(1000);
}