#include <AccelStepper.h>

// Define a stepper and the pins it will use
AccelStepper stepper(AccelStepper::DRIVER,A1,A4); // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
AccelStepper stepper1(AccelStepper::DRIVER,A3,A2);


long steps = 0;
long rounds = 0;
int indeks = 1;
int vaihto = 0;
int apu = 0;
int roundz = 0;
int nextChar = 1;
void setup()
{ 
  stepper.setMaxSpeed(650);
  stepper.setAcceleration(150);


  stepper1.setMaxSpeed(5.0);
  stepper1.setAcceleration(1000.0);
  stepper1.moveTo(19);
  
  Serial.begin(9600);
    while (!Serial) {
    ; // wait for serial port to connect. Needed for native USB port only
  }
}

void loop(){
  if (Serial.available()) {
    
    nextChar = Serial.read();
    if (nextChar == '0') {
    rounds = 21;
    steps = rounds*200;
    //Serial.println(steps);
    stepper.moveTo(steps);
    while (stepper.distanceToGo() != 0) {
      
        if (indeks = 199){
        roundz = stepper.currentPosition()/200;
        indeks == 0;
        vaihto == 1;
        }
      indeks++;
      if (vaihto = 1){
        Serial.println(roundz);
        vaihto=0; 
        }
      stepper.run();
      if (stepper1.distanceToGo() == 0)
      stepper1.moveTo(-stepper1.currentPosition());
      stepper1.run();
    }
  }
  }
}