#include <AccelStepper.h>;
#include <SPI.h>;

//pin 9 for step, pin 10 for direction
AccelStepper stepper(AccelStepper::DRIVER,9,10); //

const int slaveSelectPin = 11; // the pin which is connected to boosterpacks SCS
const int nSleep = 6; // pin which wakes up the board

void setup()
{
  pinMode(nSleep, OUTPUT); // pin for the nSleep which wakes up the board
  pinMode(slaveSelectPin, OUTPUT); // SCS

  digitalWrite(nSleep, HIGH); // HIGH wakes up board

  SPI.setBitOrder(MSBFIRST);
  SPI.begin();


  // CTRL Register
  digitalWrite(slaveSelectPin, HIGH); // slave select / SCS pin has to be high in order to write register
  SPI.transfer(0x0f); //
  SPI.transfer(0x19); // 8 microsteps
  delay(15);
  digitalWrite(slaveSelectPin, LOW);
  delay(150);

  // TORQUE Register
  digitalWrite(slaveSelectPin, HIGH);
  SPI.transfer(0x10);
  SPI.transfer(0xba);
  delay(15);
  digitalWrite(slaveSelectPin, LOW);
  delay(150);


  // OFF Register
  digitalWrite(slaveSelectPin, HIGH);
  SPI.transfer(0x20);
  SPI.transfer(0x30);
  delay(15);
  digitalWrite(slaveSelectPin, LOW);
  delay(150);

  // BLANK Register
  digitalWrite(slaveSelectPin, HIGH);
  SPI.transfer(0x31);
  SPI.transfer(0x08);
  delay(15);
  digitalWrite(slaveSelectPin, LOW);
  delay(150);


  // DECAY Register
  digitalWrite(slaveSelectPin, HIGH);
  SPI.transfer(0x43);
  SPI.transfer(0x10);
  delay(15);
  digitalWrite(slaveSelectPin, LOW);
  delay(150);


  // STALL Register
  digitalWrite(slaveSelectPin, HIGH);
  SPI.transfer(0x5f);
  SPI.transfer(0x40);
  delay(15);
  digitalWrite(slaveSelectPin, LOW);
  delay(150);

  // Drive Register
  digitalWrite(slaveSelectPin, HIGH);
  SPI.transfer(0x60);
  SPI.transfer(0x55);
  delay(15);
  digitalWrite(slaveSelectPin, LOW);
  delay(150);

  // STATUS Register
  digitalWrite(slaveSelectPin, HIGH);
  SPI.transfer(0x70);
  SPI.transfer(0x80);
  delay(15);
  digitalWrite(slaveSelectPin, LOW);
  delay(150);

 stepper.setMaxSpeed(20000);
 stepper.setAcceleration(500);
 stepper.setSpeed(1800);

}

void loop()
{


stepper.runSpeed();

}