3838
/* Dessin d'un carré
 *  10 cm de coté = 1700 pas
 *  angles = 1246 pas
 */

// Include the AccelStepper Library
#include <AccelStepper.h>

// Define step constants
#define FULLSTEP 4
#define HALFSTEP 8

int etape = 8; // Nombre d'étapes

// Creates two instances of motor
// Pins entered in sequence IN1-IN3-IN2-IN4 for proper step sequence
AccelStepper stepper2(FULLSTEP, 8, 10, 9, 11);
AccelStepper stepper1(FULLSTEP, 4, 6, 5, 7);

// Défini les déplacements en valeur absolue
void change(int e) {
  Serial.print("Etape = ");
  Serial.println(etape);
  switch (e){
    case 8: stepper1.moveTo(1700); stepper2.moveTo(1700); break;
    case 7: stepper1.moveTo(2946); stepper2.moveTo(454); break;
    case 6: stepper1.moveTo(4646); stepper2.moveTo(2154); break;
    case 5: stepper1.moveTo(5892); stepper2.moveTo(908); break;
    case 4: stepper1.moveTo(7592); stepper2.moveTo(2608); break;
    case 3: stepper1.moveTo(8838); stepper2.moveTo(1362); break;
    case 2: stepper1.moveTo(10538); stepper2.moveTo(3062); break;
    case 1: stepper1.moveTo(11784); stepper2.moveTo(1816); break;
    default: ;
  }
  etape--;
}

void setup() {
  Serial.begin(115200);
  
  // set the maximum speed, acceleration factor,
  // initial speed and the target position for motor 1
  stepper1.setMaxSpeed(1000.0);
  stepper1.setAcceleration(200.0);
  stepper1.setSpeed(200);


  // set the same for motor 2
  stepper2.setMaxSpeed(1000.0);
  stepper2.setAcceleration(200.0);
  stepper2.setSpeed(200);
}

void loop() {
  // Change direction once the motor reaches target position
  if ((etape > 0) && (stepper1.distanceToGo() == 0)) change(etape);
  // Move the motor one step
  if (etape >=0) {
    stepper1.run();
    stepper2.run();
  }
}