//////////////////////////////////////////////////////////////////
//©2011 bildr
//Released under the MIT License - Please reuse change and share
//Using the easy stepper with your arduino
//speed is any number from .01 -> 1 with 1 being the fastest 
//
//Modified by R.J. Kreindler Oct 2016
//  Rotate 360 degrees clockwise, pause 1 second
//    then reverse direction and rotate 360 degrees
//  First use rotateDeg to specify degrees to rotate
//    then use rotate to specify the number of steps to rotate
/////////////////////////////////////////////////////////////////


#define DIR_PIN 2
#define STEP_PIN 3
int clockwiseLED = 6;
int counterclockwiseLED = 7;

void setup() { 
  pinMode(DIR_PIN, OUTPUT); 
  pinMode(STEP_PIN, OUTPUT);
  pinMode(clockwiseLED, OUTPUT);
  pinMode(counterclockwiseLED, OUTPUT);
} 

void loop(){ 

  //Rotate 360 degrees clockwise then 360 degrees counter clockwise
  // Rotate at 1/10 maximum speed
  digitalWrite(clockwiseLED, HIGH);
  //rotate 360 degrees 
  rotateDeg(360, .1);
  digitalWrite(clockwiseLED, LOW); 
  delay(1000);

  // Rotate at 1/10 maximum speed  
  digitalWrite(counterclockwiseLED, HIGH);
  rotateDeg(-360, .1); //Reverse direction, rotate 360-degrees
  digitalWrite(counterclockwiseLED, LOW); 
  delay(1000); 

  
  //Rotate 360 degrees clockwise then 360 degrees counter clockwise
  //  The specific number of microsteps can be determined 
  //    using (8 microsteps per step)
  //A 200 step stepper would take 1600 micro steps for one full revolution

  // Rotate at the fatest speed
  digitalWrite(clockwiseLED, HIGH);
  rotate(1600, 1); 
  digitalWrite(clockwiseLED, LOW); 
  delay(1000); 

  // Rotate at the fastest speed
  digitalWrite(counterclockwiseLED, HIGH);
  rotate(-1600,1); //reverse
  digitalWrite(counterclockwiseLED, LOW); 
  delay(1000); 
}

// Functions rotate() and rotateDeg() used in this sketch

void rotate(int steps, float speed){ 
  //rotate a specific number of microsteps (8 microsteps per step) - (negitive for reverse movement)
  //speed is any number from .01 -> 1 with 1 being fastest - Slower is stronger
  int dir = (steps > 0)? HIGH:LOW;
  steps = abs(steps);

  digitalWrite(DIR_PIN,dir); 

  float usDelay = (1/speed) * 70;

  for(int i=0; i < steps; i++){ 
    digitalWrite(STEP_PIN, HIGH); 
    delayMicroseconds(usDelay); 

    digitalWrite(STEP_PIN, LOW); 
    delayMicroseconds(usDelay); 
  } 
} 

void rotateDeg(float deg, float speed){ 
  //rotate a specific number of degrees (negitive for reverse movement)
  //speed is any number from .01 -> 1 with 1 being fastest - Slower is stronger
  int dir = (deg > 0)? HIGH:LOW;
  digitalWrite(DIR_PIN,dir); 

  int steps = abs(deg)*(1/0.225);
  float usDelay = (1/speed) * 70;

  for(int i=0; i < steps; i++){ 
    digitalWrite(STEP_PIN, HIGH); 
    delayMicroseconds(usDelay); 

    digitalWrite(STEP_PIN, LOW); 
    delayMicroseconds(usDelay); 
  } 
}