Arduino Motors

#include <Stepper.h>
#include <Servo.h>
#include <LiquidCrystal_I2C.h>
#include <Wire.h>

int rpm = 2048;
LiquidCrystal_I2C lcd(0x27, 16, 2);
Stepper motor(rpm, 10, 12, 11, 13);
int pinLedR = 3;
int pinLedA = 2;
int pinSound = 4;
int lecturaBoton = A0;
int pinServo = 5;
int pinPotenciometro = A1;
int ejeX = A2;
int ejeY = A3;
Servo miServo;

// Variables de uso
int velocidadMotor = 1;
int estadoBoton;
int angulo;
int vrJoystick;
int tempEjeY;
int wait = 50;
int voltajePotenciometro;
bool verificarSonido;
int stepState = 1;

void setup() {
  pinMode(pinLedA, OUTPUT);
  pinMode(pinLedR, OUTPUT);
  pinMode(pinSound, OUTPUT);
  pinMode(pinPotenciometro, INPUT);
  pinMode(ejeX, INPUT);
  pinMode(ejeY, INPUT);
  Serial.begin(9600);
  lcd.init();
  lcd.backlight();
  miServo.attach(pinServo);
  motor.setSpeed(1);
  lcd.setCursor(0, 1);
  lcd.print("Giro motor: <-");
}

void moverMotor(int step) {
  tempEjeY = analogRead(ejeY);
  while (tempEjeY < 529 || tempEjeY > 532) {
    motor.step(step);
    tempEjeY = analogRead(ejeY);
    //velocidadMotor = (((2. / 1023.) * tempEjeY) - 3.) * -1;
    motor.setSpeed(abs(15));
  }
  digitalWrite(10, LOW);
  digitalWrite(11, LOW);
  digitalWrite(12, LOW);
  digitalWrite(13, LOW);
}

bool moverServo() {
  vrJoystick = analogRead(ejeX);
  angulo = (179. / 1022.) * (vrJoystick - 1022.) * -1;
  miServo.write(angulo);
  if (angulo == 0 || angulo >= 178) {
    return true;
  } else {
    return false;
  }
}

void sonar(bool verificador) {
  if (verificador) {
    if (angulo >= 179) {
      digitalWrite(pinLedA, 0);
      digitalWrite(pinSound, 1);
      digitalWrite(pinLedR, 1);
      delay(wait);
      digitalWrite(pinSound, 0);
      digitalWrite(pinLedR, 0);
      delay(wait);
      lcd.setCursor(0, 0);
      lcd.print("Valor minimo");
    } else if (angulo == 0) {
      digitalWrite(pinLedR, 0);
      digitalWrite(pinSound, 1);
      digitalWrite(pinLedA, 1);
      delay(wait);
      digitalWrite(pinSound, 0);
      digitalWrite(pinLedA, 0);
      delay(wait);
      lcd.setCursor(0, 0);
      lcd.print("Valor maximo");
    }
  } else {
    digitalWrite(pinSound, 0);
    digitalWrite(pinLedR, 0);
    digitalWrite(pinLedA, 0);
  }
}

void cambiarDireccionMotor(int pinLectura) {
  if (pinLectura == 0) {
    if (stepState == 1) {
      lcd.setCursor(0, 1);
      lcd.print("Giro motor: ->");
      digitalWrite(pinSound, 1);
      delay(150);
      digitalWrite(pinSound, 0);
      delay(150);
      stepState = -1;
      lcd.setCursor(0, 1);
    } else {
      lcd.setCursor(0, 1);
      lcd.print("Giro motor: <-");
      stepState = 1;
      digitalWrite(pinSound, 1);
      delay(150);
      digitalWrite(pinSound, 0);
      delay(150);
    }
  }
}

void loop() {
  Serial.println(angulo);
  lcd.setCursor(0, 0);
  lcd.print("Angulo mtr: " + String(angulo) + "  ");
  cambiarDireccionMotor(analogRead(lecturaBoton));
  moverMotor(stepState);
  verificarSonido = moverServo();
  sonar(verificarSonido);
  voltajePotenciometro = analogRead(pinPotenciometro);
  wait = (450. / 700.) * voltajePotenciometro + 50.;
}