/*Example sketch to control a stepper motor with DRV8825 stepper motor driver, AccelStepper library and Arduino: number of steps or revolutions. More info: https://www.makerguides.com */

// Include the AccelStepper library:
#include <AccelStepper.h>

// Define stepper motor connections and motor interface type. Motor interface type must be set to 1 when using a driver:
#define dirPin 2
#define stepPin 3
#define motorInterfaceType 1
#define microStepsFactor 4

// Create a new instance of the AccelStepper class:
AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);

int dir = 1;

void setup() {
  // Set the maximum speed in steps per second:
  stepper.setMaxSpeed(1000*microStepsFactor);
  
}

void loop() { 
  // Set the current position to 0:
  stepper.setCurrentPosition(0);

  int revs = random(1,5);
  dir = -dir;
  // Run the motor forward at 200 steps/second until the motor reaches 400 steps (2 revolutions):
  while(stepper.currentPosition() != 200 * microStepsFactor * revs * dir) {
    stepper.setSpeed(1000 * microStepsFactor * dir);
    stepper.runSpeed();
  }

  delay(200);
}