#include <AccelStepper.h>

// تعريف نوع المحرك وطريقة الاتصال (4 أسلاك مع ULN2003)
#define MotorInterfaceType 4  //  لأن ULN2003 يستخدم 4 ملفات (Half-step)

// تعريف منافذ المحرك X (مطابقة للمشروع الأصلي)
AccelStepper stepperX(MotorInterfaceType, 11, 9, 10, 8); // IN1, IN3, IN2, IN4

// تعريف منافذ المحرك Y (مطابقة للمشروع الأصلي)
AccelStepper stepperY(MotorInterfaceType, 7, 5, 6, 4); // IN1, IN3, IN2, IN4

void setup() {
  Serial.begin(9600);
  
  // إعدادات المحرك X (28BYJ-48 مع ULN2003)
  stepperX.setMaxSpeed(300);    // سرعة أقل من 400 للعمل الآمن
  stepperX.setAcceleration(100); // تسارع معتدل
  
  stepperY.setMaxSpeed(300);
  stepperY.setAcceleration(100);
  
  Serial.println("System Ready with ULN2003");
  Serial.println("Commands: X+100, X-50, Y+200, Y-100");
}

void loop() {
  if (Serial.available() > 0) {
    char axis = Serial.read();
    int steps = Serial.parseInt();
    
    if (axis == 'X' || axis == 'x') {
      stepperX.move(steps);
      Serial.print("Moving X ");
      Serial.println(steps);
    }
    else if (axis == 'Y' || axis == 'y') {
      stepperY.move(steps);
      Serial.print("Moving Y ");
      Serial.println(steps);
    }
  }
  
  stepperX.run();
  stepperY.run();
}
								
							
							

	
								
/*
 * Created by ArduinoGetStarted.com
 *
 * This example code is in the public domain
 *
 * Tutorial page: https://arduinogetstarted.com/tutorials/arduino-controls-28byj-48-stepper-motor-using-uln2003-driver
 */

// Include the AccelStepper Library
#include <AccelStepper.h>

// define step constant
#define FULLSTEP 4
#define STEP_PER_REVOLUTION 2048 // this value is from datasheet

// Pins entered in sequence IN1-IN3-IN2-IN4 for proper step sequence
AccelStepper stepper(FULLSTEP, 11, 9, 10, 8);

void setup() {
  Serial.begin(9600);
  stepper.setMaxSpeed(1000.0);   // set the maximum speed
  stepper.setAcceleration(50.0); // set acceleration
  stepper.setSpeed(200);         // set initial speed
  stepper.setCurrentPosition(0); // set position
  stepper.moveTo(STEP_PER_REVOLUTION); // set target position: 64 steps <=> one revolution
}

void loop() {
  // change direction once the motor reaches target position
  if (stepper.distanceToGo() == 0)
    stepper.moveTo(-stepper.currentPosition());

  stepper.run(); // MUST be called in loop() function

  Serial.print(F("Current Position: "));
  Serial.println(stepper.currentPosition());
}
								
							
							

	
								
//Includes the Arduino Stepper Library
#include <Stepper.h>

// Defines the number of steps per rotation 
const int stepsPerRevolution = 2038;

// Creates an instance of stepper class
// Pins entered in sequence IN1-IN3-IN2-IN4 for proper step sequence
Stepper myStepper = Stepper(stepsPerRevolution, 8, 10, 9, 11);//OR//11, 9, 10, 8

void setup() {
  // Nothing to do (Stepper Library sets pins as outputs)
}

void loop() {

  //====================================slowly full rotation
  // Rotate CW slowly at 5 RPM
  myStepper.setSpeed(5);
  myStepper.step(stepsPerRevolution);
  delay(1000);

  
  // Rotate CCW slowly at 5 RPM
  myStepper.setSpeed(5);
  myStepper.step(-stepsPerRevolution);
  delay(1000);
  //====================================

  //====================================slowly half rotation
  
  // Rotate CW slowly at 5 RPM
  myStepper.setSpeed(5);
  myStepper.step(stepsPerRevolution/2);
  delay(1000);

  
  // Rotate CCW slowly at 5 RPM
  myStepper.setSpeed(5);
  myStepper.step(-stepsPerRevolution/2);
  delay(1000);

  //====================================

  //====================================quickly half rotation
  
  // Rotate CW quickly at 7 RPM
  myStepper.setSpeed(7);
  myStepper.step(stepsPerRevolution/2);
  delay(1000);

  // Rotate CCW quickly at 7 RPM
  myStepper.setSpeed(7);
  myStepper.step(-stepsPerRevolution/2);
  delay(1000);

  //====================================
}