#include <Stepper.h>

const int stepsPerRevolution1 = 400;  // change this to fit the number of steps per revolution
const int stepsPerRevolution2 = 400;  // change this to fit the number of steps per revolution
// for your motor

// initial position of end effector (relative to motor A) - length of motor A wire (mm)
int lA0=500;
// initial position of end effector (relative to motor B) - length of motor B wire (mm)
int lB0=500;

// final length of motor A (mm)
int lA1=550;
// final length of motor B (mm)
int lB1=525;

//calibration
float DlA=30./200; //périmètre poulie moteur/nombre de pas pour faire un tour
float DlB=30./200;


int nstepA=int((lA1-lA0)/DlA);
int nstepB=int((lB1-lB0)/DlB);

// initialize the stepper library on pins 8 through 11:
Stepper myStepper1(stepsPerRevolution1, 6, 7, 8, 9);
Stepper myStepper2(stepsPerRevolution2, 10, 11, 12, 13);


void setup() {
  // set the speed at 60 rpm:
  myStepper1.setSpeed(60);
  myStepper2.setSpeed(60);
  // initialize the serial port:
  Serial.begin(9600);
  //Serial.println("Hello World");
  Serial.print("lA0=");
  Serial.println(lA0);
  Serial.print("DlA=");
  Serial.println(DlA);
  Serial.print("nstepA=");
  Serial.println(nstepA);
  Serial.print("lB0=");
  Serial.println(lB0);
  Serial.print("DlB=");
  Serial.println(DlB);
  Serial.print("nstepB=");
  Serial.println(nstepB);
}

void loop() {

  for (int s1A; s1A<nstepA; s1A++) {
    myStepper1.step(1);
    //myStepper2.step(1);
  }
  for (int s1B; s1B<nstepB; s1B++) {
    //myStepper1.step(1);
    myStepper2.step(1);
  }

  delay(1000);

  for (int s1A; s1A<nstepA; s1A++) {
  myStepper1.step(-1);
  //myStepper2.step(1);
  }
  for (int s1B; s1B<nstepB; s1B++) {
  //myStepper1.step(1);
  myStepper2.step(-1);
  }

}