#include <SPI.h>;

const int stp = 9;
const int dir = 10;
const int slaveSelectPin = 11; // Chip selection pin ,must be high when register is written
const int nSleep = 6; // pin which wakes up the board

float StepsPerRev = 200;
float microStep = 8;
float roundPerMinute = 60;
int P = (roundPerMinute * microStep * StepsPerRev)/(60); // steps per second
int D = (1000000/(2*P)); // delay time for steps, 1 000 000 = 1 second in microsecond

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


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

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

    // CTRL Register
  digitalWrite(slaveSelectPin, HIGH); // slave select(SCS) 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);


  digitalWrite(dir, LOW);
  digitalWrite(stp, LOW);

}

void loop()
{
digitalWrite(stp,HIGH);
delayMicroseconds(D);
digitalWrite(stp,LOW);
delayMicroseconds(D);
}