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#include <Arduino.h>
 
// Pin definitions
#define STEP_PIN 18   // Step pin for DRV8825
#define DIR_PIN 19    // Direction pin for DRV8825
#define ENABLE_PIN 23 // Enable pin for DRV8825 (optional)
 
// Stepper motor parameters
int stepsPerRevolution = 200; // Motor-specific (commonly 200 steps/rev)
int microstepping = 32;       // Microstepping setting (DRV8825 jumpers)
int delayHigh = 1500;         // Duration HIGH in microseconds
int delayLow = 1500;          // Duration LOW in microseconds
int totalSteps;               // Total steps for one revolution
 
void setup() {
  // Initialize pins
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(ENABLE_PIN, OUTPUT);
 
  // Enable the motor
  digitalWrite(ENABLE_PIN, LOW);
 
  // Set direction to forward
  digitalWrite(DIR_PIN, HIGH);
 
  // Calculate total steps per revolution with microstepping
  totalSteps = stepsPerRevolution * microstepping;
 
  Serial.begin(115200);
  Serial.println("Stepper motor initialized.");
}
 
void loop() {
  // Move one full revolution forward
  Serial.println("Moving forward one revolution...");
  moveStepper(totalSteps);
 
  // Pause for a moment
  delay(2000);
 
  // Change direction to backward
  digitalWrite(DIR_PIN, LOW);
  Serial.println("Moving backward one revolution...");
  moveStepper(totalSteps);
 
  // Pause for a moment before repeating
  delay(2000);
}
 
// Function to move the stepper motor a given number of steps
void moveStepper(int steps) {
  for (int i = 0; i < steps; i++) {
    digitalWrite(STEP_PIN, HIGH);  // Set STEP pin HIGH
    delayMicroseconds(delayHigh);  // Wait for HIGH duration
    digitalWrite(STEP_PIN, LOW);   // Set STEP pin LOW
    delayMicroseconds(delayLow);   // Wait for LOW duration
  }
}