MAIN PROGRAM

int stepping = false;

int moving = false;
int home_pos = false;
void setup ( )
{
pinMode (2, INPUT);
pinMode (3, OUTPUT);
pinMode (4, OUTPUT);
pinMode (5, INPUT);
pinMode (6, OUTPUT);
pinMode (7, OUTPUT);
pinMode (11, OUTPUT);
pinMode (12, OUTPUT);
pinMode (13, INPUT);
}
void loop ( )
{
if (home_pos == false)
{
for (int i=0; i<120; i++)
{
digitalWrite (4, HIGH);
upper ( );
}
for (int i=0; i<100; i++)
{
digitalWrite (12, LOW);
lower ( );
}
home_pos = true;
}
delay (200);
if (home_pos==true)
{
if ((digitalRead (5) == LOW) && (digitalRead (2) == LOW))
{
stepping = true;
}
delay (10);
if (stepping == true)
{
for (int i=0; i<250; i++)
{
digitalWrite (7, HIGH);
base ( );
}
for (int i=0; i<75; i++)
{
digitalWrite (4, LOW);
upper ( );
}
for (int i=0; i<60; i++)
{
digitalWrite (12, LOW);
lower ( );
}
for (int i=0; i<75; i++)
{
digitalWrite (4, HIGH);
upper ( );
}
for (int i=0;i<500;i++)
{
digitalWrite (7, LOW);
base ( );
}
for (int i=0; i<70; i++)
 {
digitalWrite (4, LOW);
upper ( );
}
for (int i=0; i<60; i++)
{
digitalWrite (12, HIGH);
lower ( );
}
for (int i=0; i<70; i++)
{
digitalWrite (4, HIGH);
upper ( );
}
for (int i=0; i<250; i++)
{
digitalWrite (7, HIGH);
base ( );
}
}
stepping = false;
if ((digitalRead (5) == LOW) && (digitalRead (2) == HIGH))
{
moving = true;
}
delay (10);
if (moving == true)
{
for (int i=0; i<250; i++)
{
digitalWrite (7,HIGH);
base ( );
}
for (int i=0; i<75; i++)
{
digitalWrite (4, LOW);
upper ( );
}
for (int i=0; i<60; i++)
{
digitalWrite (12, LOW);
lower ( );
}
for (int i=0; i<75; i++)
{
digitalWrite (4, HIGH);
upper ( );
}
for (int i=0; i<400; i++)
{
digitalWrite (7, LOW);
base ( );
}
for (int i=0; i<70; i++)
{
digitalWrite (4, LOW);
upper ( );
}
for (int i=0; i<60; i++)
{
digitalWrite (12, HIGH);
lower ( );
}
for (int i=0; i<70; i++)
{
digitalWrite (4, HIGH);
upper ( );
}
 for (int i=0; i<200; i++)
{
digitalWrite (7, HIGH);
base ( );
}
}
moving = false;
}
}
void base ( )
{
digitalWrite (6, LOW);
delay (10);
digitalWrite (6, HIGH);
delay (10);
}
void upper ( )
{
digitalWrite (3, LOW);
delay (50);
digitalWrite (3, HIGH);
delay (50);
}
void lower ( )
{
digitalWrite (11, LOW);
delay(50);
digitalWrite (11, HIGH);
delay(50);
}