/*
    Controlling two stepper with the AccelStepper library
     by Dejan, https://howtomechatronics.com
*/
#include <AccelStepper.h>
// Define the stepper motor and the pins that is connected to
AccelStepper stepper1(1, 37, 39); // (Typeof driver: with 2 pins, STEP, DIR)
AccelStepper stepper2(1, 31, 33);

void setup() {
  stepper1.setMaxSpeed(1000); // Set maximum speed value for the stepper
  stepper1.setAcceleration(500); // Set acceleration value for the stepper
  stepper1.setCurrentPosition(0); // Set the current position to 0 steps
  stepper2.setMaxSpeed(1000);
  stepper2.setAcceleration(500);
  stepper2.setCurrentPosition(0);
}
void loop() {
  stepper1.moveTo(800); // Set desired move: 800 steps (in quater-step resolution that's one rotation)
  stepper1.runToPosition(); // Moves the motor to target position w/ acceleration/ deceleration and it blocks until is in position
  stepper2.moveTo(1600);
  stepper2.runToPosition();
  // Move back to position 0, using run() which is non-blocking - both motors will move at the same time
  stepper1.moveTo(0);
  stepper2.moveTo(0);
  while (stepper1.currentPosition() != 0 || stepper2.currentPosition() != 0) {
    stepper1.run();  // Move or step the motor implementing accelerations and decelerations to achieve the target position. Non-blocking function
    stepper2.run();
    //
    //
  }
}