/*
 Stepper Motor Control - one revolution

 This program drives a unipolar or bipolar stepper motor.
 The motor is attached to digital pins 8 - 11 of the Arduino.

 The motor should revolve one revolution in one direction, then
 one revolution in the other direction.


 Created 11 Mar. 2007
 Modified 30 Nov. 2009
 by Tom Igoe

 */

#include <Stepper.h>

int PWMA=5;//Right side 
int PWMB=4;//Left side 
int DA=0;//Right reverse 
int DB=2;//Left reverse 

const int stepsPerRevolution = 200;  // change this to fit the number of steps per revolution
// for your motor

Stepper myStepper(stepsPerRevolution, D1, D2, D3, D4);

void setup() {
  // set the speed at 60 rpm:
  myStepper.setSpeed(200);
  // initialize the serial port:
  Serial.begin(9600);
}

void loop() {
  // step one revolution  in one direction:
  Serial.println("clockwise");
  myStepper.step(stepsPerRevolution);
  delay(500);

  // step one revolution in the other direction:
  Serial.println("counterclockwise");
  myStepper.step(-stepsPerRevolution);
  delay(500);
}