#define RPMS                104.0
#define STEP_PIN                9
#define DIRECTION_PIN           8
#define LEFT                    2
#define RIGHT                   3
#define STEP_PINB               10
#define DIRECTION_PINB          11
#define FEED                    4


#define STEPS_PER_REV         200
#define MICROSTEPS_PER_STEP     8
#define MICROSECONDS_PER_MICROSTEP   (1000000/(STEPS_PER_REV * MICROSTEPS_PER_STEP)/(RPMS / 60))


int Stepping = false;
uint32_t LastStepTime = 0;
uint32_t CurrentTime = 0;

void setup() {                
  pinMode(STEP_PIN, OUTPUT);     
  pinMode(DIRECTION_PIN, OUTPUT);
  digitalWrite(STEP_PIN, LOW);
  pinMode(LEFT,INPUT);
  pinMode(RIGHT,INPUT);
 

  pinMode(STEP_PINB, OUTPUT);     
  pinMode(DIRECTION_PINB, OUTPUT);
  digitalWrite(STEP_PINB, LOW);
  pinMode(FEED,INPUT);
  
  
}

void loop() {

  if (digitalRead(LEFT) == LOW)
  {
    digitalWrite(DIRECTION_PIN, LOW);
    CurrentTime = micros();
    if ((CurrentTime - LastStepTime) > MICROSECONDS_PER_MICROSTEP)
    {
      LastStepTime = CurrentTime;
      digitalWrite(STEP_PIN, HIGH);
      delayMicroseconds((MICROSECONDS_PER_MICROSTEP * 0.9)/2);
      digitalWrite(STEP_PIN, LOW); 
      delayMicroseconds((MICROSECONDS_PER_MICROSTEP * 0.9)/2);
    }
  }

   if (digitalRead(RIGHT) == LOW)
  {
     digitalWrite(DIRECTION_PIN, HIGH); 
    CurrentTime = micros();
    if ((CurrentTime - LastStepTime) > MICROSECONDS_PER_MICROSTEP)
    {
      LastStepTime = CurrentTime;
      digitalWrite(STEP_PIN, HIGH);
      delayMicroseconds((MICROSECONDS_PER_MICROSTEP * 0.9)/2);
      digitalWrite(STEP_PIN, LOW); 
      delayMicroseconds((MICROSECONDS_PER_MICROSTEP * 0.9)/2);
    }
  }

   
  if (digitalRead(FEED) == LOW && Stepping == false)
  {
    digitalWrite(10, LOW);
    digitalWrite(11, HIGH);
    delay(1);          
    digitalWrite(11, LOW); 
    delay(1);
  }
    

}