/*
 Stepper Motor Control - one revolution

 This program drives a unipolar or bipolar stepper motor.
 The motor is attached to digital pins 8 - 11 of the Arduino.

 The motor should revolve one revolution in one direction, then
 one revolution in the other direction.


 Created 11 Mar. 2007 
 Modified 30 Nov. 2009
 by Tom Igoe

 */

#include <Stepper.h>
#include <Servo.h>
const int stepsPerRevolution =100;  // change this to fit the number of steps per revolution
// for your motor

// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
Stepper myStepper2(stepsPerRevolution, 2, 3, 4, 5);

const int penZUp = 80;
const int penZDown = 40;

const int penServoPin = 6;
Servo penServo; 


void setup() {
  // set the speed at 600 rpm:
  myStepper.setSpeed(100);
   penServo.attach(6);
  // initialize the serial port:
  Serial.begin(9600);
}

void loop() {

   
   Serial.println("left");
   for(int stp=0;stp<=260 ;stp++){
  myStepper.step(1);
  myStepper2.step(1);
  delay(4);
   }
   delay(20);

  penUp();
 Serial.println("right");
   for(int stp=260;stp>=0 ;stp--){
  myStepper.step(-1);
  myStepper2.step(-1);
  delay(4);
   }
  delay(20);

  penDown();
}


void penUp() { 
  penServo.write(0); 
  delay(150); 
  } 

void penDown() { 
  penServo.write(40); 
  delay(150); 
}