This document defines constants for pin assignments and includes the Servo library. It controls 3 stepper motors using microstepping to move specified steps in a given direction at a specified speed. A servo motor is also controlled to two positions. The main loop calls functions to operate each motor independently in sequences, such as moving one motor forward and another backward simultaneously.

1. #define IN1 8
#define IN2 9
#define IN3 10
#define IN4 11
#define IN5 4
#define IN6 5
#define IN7 6
#define IN8 7
#define INn1 22
#define INn2 24
#define INn3 26
#define INn4 28
#include <Servo.h>
Servo myservo; // create servo object to control a servo
// twelve servo objects can be created on most boards
int pos = 0;
int Steps = 0;
int Steps1 = 0;
int Steps2 = 0;
boolean Direction = true;// gre
boolean Direction1 = true;// gre
boolean Direction2 = true;// gre
unsigned long last_time;
unsigned long currentMillis ;
int steps_left=40950;
int steps_left1=40950;
int steps_left2=40950;
int k=0;
long time;
void setup()
{
Serial.begin(115200);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(IN5, OUTPUT);
pinMode(IN6, OUTPUT);
pinMode(IN7, OUTPUT);
pinMode(IN8, OUTPUT);
pinMode(INn1, OUTPUT);
pinMode(INn2, OUTPUT);
pinMode(INn3, OUTPUT);
pinMode(INn4, OUTPUT);
myservo.attach(12);
// delay(1000);
}
//_____________________________________________________________
void motor1 (int spd1 ,int steps1 ,int dir1 ){
steps_left1 = steps1 ;

2. Direction1 = dir1 ;
while(steps_left1>0){
currentMillis = micros();
if(currentMillis-last_time>=spd1){
stepper1(1);
time=time+micros()-last_time;
last_time=micros();
steps_left1--;
}
//delay(1000);
//Direction=!Direction;
}
}
//-___________________________________________________________
void loop()
{
k=0;
while(k<2000){
motor (1000 , 1 , 0 );
motor1 (1000 , 1 , 1 );
k++;
}
while(k<3500){
motor (3700 , 1 , 1 );
motor2 (1000 , 1 , 1 );
k++;
}
while(k<5000){
motor (1000 , 1 , 1 );
motor2 (1000 , 1 , 0 );
k++;
}
myservo.write(30);
delay(1000);
while(k<5500){
motor (3700 , 1 , 0 );
motor1 (1000 , 1 , 0 );
motor2 (1000 , 1 , 0 );
k++;
}
myservo.write(0);
delay(2000);
/* while(k<9000){
motor (800 , 1 , 0 );

3. motor1 (800 , 1 , 1 );
k++;
}
while(k<12000){
motor (800 , 1 , 0 );
motor1 (1000 , 1 , 0 );
k++;
}*/
}
void motor (int spd ,int steps ,int dir ){
steps_left = steps ;
Direction = dir ;
while(steps_left>0){
currentMillis = micros();
if(currentMillis-last_time>=spd){
stepper(1);
time=time+micros()-last_time;
last_time=micros();
steps_left--;
}
//delay(1000);
//Direction=!Direction;
}
}
//____________________________________________________________________________________
_____
void motor2 (int spd2 ,int steps2 ,int dir2 ){
steps_left2 = steps2 ;
Direction2 = dir2 ;
while(steps_left2>0){
currentMillis = micros();
if(currentMillis-last_time>=spd2){
stepper2(1);
time=time+micros()-last_time;
last_time=micros();
steps_left2--;
}
//delay(1000);
//Direction=!Direction;

4.
}
}
//__________________________________________________
void stepper(int xw){
for (int x=0;x<xw;x++){
switch(Steps){
case 0:
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
break;
case 1:
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, HIGH);
break;
case 2:
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
break;
case 3:
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
break;
case 4:
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
break;
case 5:
digitalWrite(IN1, HIGH);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
break;
case 6:
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);

5. digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
break;
case 7:
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
break;
default:
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
break;
}
SetDirection();
}
}
//____________________________________________________________________________________
________
void stepper1(int xy){
for (int x=0;x<xy;x++){
switch(Steps1){
case 0:
digitalWrite(IN5, LOW);
digitalWrite(IN6, LOW);
digitalWrite(IN7, LOW);
digitalWrite(IN8, HIGH);
break;
case 1:
digitalWrite(IN5, LOW);
digitalWrite(IN6, LOW);
digitalWrite(IN7, HIGH);
digitalWrite(IN8, HIGH);
break;
case 2:
digitalWrite(IN5, LOW);
digitalWrite(IN6, LOW);
digitalWrite(IN7, HIGH);
digitalWrite(IN8, LOW);
break;
case 3:
digitalWrite(IN5, LOW);
digitalWrite(IN6, HIGH);
digitalWrite(IN7, HIGH);
digitalWrite(IN8, LOW);
break;
case 4:
digitalWrite(IN5, LOW);

6. digitalWrite(IN6, HIGH);
digitalWrite(IN7, LOW);
digitalWrite(IN8, LOW);
break;
case 5:
digitalWrite(IN5, HIGH);
digitalWrite(IN6, HIGH);
digitalWrite(IN7, LOW);
digitalWrite(IN8, LOW);
break;
case 6:
digitalWrite(IN5, HIGH);
digitalWrite(IN6, LOW);
digitalWrite(IN7, LOW);
digitalWrite(IN8, LOW);
break;
case 7:
digitalWrite(IN5, HIGH);
digitalWrite(IN6, LOW);
digitalWrite(IN7, LOW);
digitalWrite(IN8, HIGH);
break;
default:
digitalWrite(IN5, LOW);
digitalWrite(IN6, LOW);
digitalWrite(IN7, LOW);
digitalWrite(IN8, LOW);
break;
}
SetDirection1();
}
}
//____________________________________________________________________
void stepper2(int xz){
for (int x=0;x<xz;x++){
switch(Steps2){
case 0:
digitalWrite(INn1, LOW);
digitalWrite(INn2, LOW);
digitalWrite(INn3, LOW);
digitalWrite(INn4, HIGH);
break;
case 1:
digitalWrite(INn1, LOW);
digitalWrite(INn2, LOW);
digitalWrite(INn3, HIGH);
digitalWrite(INn4, HIGH);
break;
case 2:
digitalWrite(INn1, LOW);

7. digitalWrite(INn2, LOW);
digitalWrite(INn3, HIGH);
digitalWrite(INn4, LOW);
break;
case 3:
digitalWrite(INn1, LOW);
digitalWrite(INn2, HIGH);
digitalWrite(INn3, HIGH);
digitalWrite(INn4, LOW);
break;
case 4:
digitalWrite(INn1, LOW);
digitalWrite(INn2, HIGH);
digitalWrite(INn3, LOW);
digitalWrite(INn4, LOW);
break;
case 5:
digitalWrite(INn1, HIGH);
digitalWrite(INn2, HIGH);
digitalWrite(INn3, LOW);
digitalWrite(INn4, LOW);
break;
case 6:
digitalWrite(INn1, HIGH);
digitalWrite(INn2, LOW);
digitalWrite(INn3, LOW);
digitalWrite(INn4, LOW);
break;
case 7:
digitalWrite(INn1, HIGH);
digitalWrite(INn2, LOW);
digitalWrite(INn3, LOW);
digitalWrite(INn4, HIGH);
break;
default:
digitalWrite(INn1, LOW);
digitalWrite(INn2, LOW);
digitalWrite(INn3, LOW);
digitalWrite(INn4, LOW);
break;
}
SetDirection2();
}
}
//______________________________________________________
void SetDirection(){
if(Direction==1){ Steps++;}
if(Direction==0){ Steps--; }
if(Steps>7 ){Steps=0;}
if(Steps<0){Steps=7; }

8. }
//___________________________________________________________
void SetDirection1(){
if(Direction1==1){ Steps1++;}
if(Direction1==0){ Steps1--; }
if(Steps1>7 ){Steps1=0;}
if(Steps1<0){Steps1=7; }
}
//______________________________
void SetDirection2(){
if(Direction2==1){ Steps2++;}
if(Direction2==0){ Steps2--; }
if(Steps2>7 ){Steps2=0;}
if(Steps2<0){Steps2=7; }
}