controller

#define DIR_PIN 2
#define STEP_PIN 3
#define MS1 4
#define MS2 5

#define EN  6

char user_input;
int x;
int y;
int state;

void setup() { 
  pinMode(DIR_PIN, OUTPUT); 
  pinMode(STEP_PIN, OUTPUT); 
  Serial.begin(9600); //Open Serial connection for debugging
  Serial.println("Begin motor control");
} 

void loop(){ 

  while(Serial.available()){
      user_input = Serial.read(); //Read user input and trigger appropriate function
      digitalWrite(EN, LOW); //Pull enable pin low to allow motor control
      if (user_input =='1')
      {
          rotate(1000, .2); 
      }
      else if(user_input =='2')
      {
          rotate(-1000, 0.2); 
      }
      else if(user_input =='3')
      {
         rotate(25000, 1); //forward
      }
      else if(user_input =='4')
      {
          rotate(-25000, 1); //reverse
      }
      else if(user_input =='5')
      {
        for(int j=0; j < 250; j++){
          rotate(75, .1);
          delay(500); 
        }
      }
      else if(user_input =='6')
      {
         rotate(8000, .1); //forward
      }
      else
      {
        Serial.println("Operation complete");
      }
      //resetEDPins();
  }
 
}



void rotate(int steps, float speed){ 
  //rotate a specific number of microsteps (8 microsteps per step) - (negitive for reverse movement)
  //speed is any number from .01 -> 1 with 1 being fastest - Slower is stronger
  int dir = (steps > 0)? HIGH:LOW;
  steps = abs(steps);

  digitalWrite(DIR_PIN,dir); 

  float usDelay = (1/speed) * 70;

  for(int i=0; i < steps; i++){ 
    digitalWrite(STEP_PIN, HIGH); 
    delayMicroseconds(usDelay); 

    digitalWrite(STEP_PIN, LOW); 
    delayMicroseconds(usDelay); 
  } 
} 



//Reset Easy Driver pins to default states
void resetEDPins()
{
  digitalWrite(STEP_PIN, LOW);
  digitalWrite(DIR_PIN, LOW);
  digitalWrite(MS1, LOW);
  digitalWrite(MS2, LOW);
  digitalWrite(EN, HIGH);
}