// 2010 mlab.taik.fi/paja
// Controlling stepper motor
// Miniture stepper motor from Symbol technology
// "21-02485-03" - 18 degree step motor
// This code is created based on the example from Motor Shield website
// http://www.ladyada.net/make/mshield/

#include <AFMotor.h>

// 1st argument: steps. e.g. 18 degree step motor -> 360/18 = 20 steps.
// 2nd argument: port number. Motor connected to M1 and M2 uses 1. M3 and M4 goes to 2.
AF_Stepper motor(20, 2);


void setup() {
}

void loop() {
  // 1st: Unit of speed is RPM (Revolutions per minute). 
  motor.setSpeed(200);   
  // 1st: number of steps
  // 2nd: direction
  // 3rd: Step type "'Single' means single-coil activation, 
  // 'double' means 2 coils are activated at once (for higher 
  // torque) and 'interleave' means that it alternates between 
  // single and double to get twice the resolution (but of course 
  // its half the speed). "Microstepping" is a method where the 
  // coils are PWM'd to create smooth motion between steps."
  motor.step(20, FORWARD, DOUBLE); 
  delay(1000);
  motor.setSpeed(20);   
  motor.step(20, BACKWARD, DOUBLE);
  delay(1000);
}