#include // servo library int pos = 0; int servoPin1= 3; int servoPin2= 2; int servoDelay=25; //create servo objects Servo myPointer1; Servo myPointer2; #include // include stepper library for unipolar operation #define STEPS 32 Stepper stepper1(STEPS, 4, 6, 5, 7);// give the order in this format int val1 = 0; int val2 = 0; // stepper in bipolar operation int a = 8; int b = 9; int c = 10; int d = 11; long del = 20; void setup() { Serial.begin(9600); stepper1.setSpeed(200); myPointer1.attach(servoPin1); myPointer2.attach(servoPin2); pinMode(a,OUTPUT); pinMode(b,OUTPUT); pinMode(c,OUTPUT); pinMode(d,OUTPUT); } void one(){ digitalWrite(a,HIGH); digitalWrite(b,LOW); digitalWrite(c,LOW); digitalWrite(d,HIGH); delay(del); } void two(){ digitalWrite(a,HIGH); digitalWrite(b,HIGH); digitalWrite(c,LOW); digitalWrite(d,LOW); delay(del); } void three(){ digitalWrite(a,LOW); digitalWrite(b,HIGH); digitalWrite(c,HIGH); digitalWrite(d,LOW); delay(del); } void four(){ digitalWrite(a,LOW); digitalWrite(b,LOW); digitalWrite(c,HIGH); digitalWrite(d,HIGH); delay(del); } void off(){ digitalWrite(a,LOW); digitalWrite(b,LOW); digitalWrite(c,LOW); digitalWrite(d,LOW); } void loop() { Serial.println("stepper1 steps"); while(Serial.available()==0){ } val1 = Serial.parseInt(); stepper1.step(val1); Serial.println(val1); Serial.println("enter the steps for stepper2"); while(Serial.available()==0){ } int x=Serial.parseInt(); if(x>0){ for(int i=0 ; i<=x ; i++){ one(); two(); three(); four(); } } else if (x<0){ for(int i=0 ; i>=x ; i--){ four(); three(); two(); one(); } } else if (x=0){ off(); } Serial.println(x); Serial.println("Where would you like the Servo?"); while (Serial.available()==0) { //wait for user input } pos=Serial.parseInt(); Serial.println(pos); myPointer1.write(pos); //set servo1 position myPointer2.write(180-pos);// set servo2 position delay(servoDelay); }