/* Sample program of stepper motor control through Wytec EduBase board.
 * The Wytec EduBase board has a motor control device that consists of four
 * half-bridge circuit. A bipolar stepper motor should have one winding connected
 * across M1-M2 terminals and the other winding M3-M4. It should work with
 * a unipolar stepper motor too.
 * The program turn one revolution in one direction and reverse the direction
 * for another revolution.
 * This program uses Stepper library of Energia.
 */
 
#include <Stepper.h>

const int stepsPerRevolution = 96;  // motor specific number
const int PWM12 = 30;
const int PWM34 = 39;

/* Tiva TM4C123 */ //Stepper myStepper(stepsPerRevolution, PB_0, PB_1, PB_2, PB_3);
Stepper myStepper(stepsPerRevolution, 3, 4, 19, 38);

void setup() {
    Serial.begin(9600);
    myStepper.setSpeed(60);  // set the step speed for 60 rpm
    // enable motor output without pulse width modulation
    pinMode(PWM34, OUTPUT);
    pinMode(PWM12, OUTPUT);
    digitalWrite(PWM34, HIGH);
    digitalWrite(PWM12, HIGH);
}

void loop() {
    // turn motor in one direction for one revolution
    myStepper.step(stepsPerRevolution);
    delay(500);
    
    // reverse motor direction for one revolution
    myStepper.step(-stepsPerRevolution);
    delay(500); 
}