/*
 Stepper Motor Control - one revolution

 This program drives a unipolar or bipolar stepper motor.
 The motor is attached to digital pins 8 - 11 of the Arduino.

 The motor should revolve one revolution in one direction, then
 one revolution in the other direction.


 Created 11 Mar. 2007
 Modified 30 Nov. 2009
 by Tom Igoe

 */

#include <Stepper_v6.h>

const int stepsPerRevolution = 4096;  // change this to fit the number of steps per revolution for your motor
const unsigned char phasesMatrix[8] = {
  0b00010000,
  0b00110000,
  0b00100000,
  0b01100000,
  0b01000000,
  0b11000000,
  0b10000000,
  0b10010000
  };

//initialize the stepper library on pins 8 through 11, phasesMatrix, pin_count, phase_count:
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11, 0, (unsigned char*)phasesMatrix, 4, 8);

void setup() {
  // set the speed at 17 rpm:
  myStepper.setSpeed(17);
 // Open serial communications and wait for port to open:
  Serial.begin(115200);
  // this check is only needed on the Leonardo:
   while (!Serial) {
    ; // wait for serial port to connect. Needed for Leonardo only
  }
}

void loop() {
  // step one revolution  in one direction:
  Serial.println("clockwise");
  myStepper.step(stepsPerRevolution);
  delay(500);

  // step one revolution in the other direction:
  Serial.println("counterclockwise");
  myStepper.step(-stepsPerRevolution);
  delay(500);
}