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#include <AccelStepper.h>
#define ENA1    5
#define DIR1    6
#define CLK1    7
#define ENA2    8
#define DIR2    9
#define CLK2    10

AccelStepper stepper1(1, DIR1, CLK1);// direction Digital 9 (CCW), pulses (or step) Digital 8 (CLK)
AccelStepper stepper2(1, DIR2, CLK2);// direction Digital 7 (CCW), pulses (or step) Digital 6 (CLK)
bool pingpong_CW = false;
bool pingpong_CCW = false;
bool pingpong_CW2 = false;
bool pingpong_CCW2 = false;

void setup()
{
    pinMode(ENA1, OUTPUT);
    pinMode(ENA2, OUTPUT);
    digitalWrite(ENA1, HIGH);
    digitalWrite(ENA2, HIGH);

    //Accelstepper parameters
    stepper1.setMaxSpeed(6000); //SPEED = Steps / second
    stepper2.setMaxSpeed(6000); //SPEED = Steps / second
    stepper1.setAcceleration(5000); //ACCELERATION = Steps /(second)^2
    stepper2.setAcceleration(5000); //ACCELERATION = Steps /(second)^2
    stepper1.enableOutputs(); //enable pins
    stepper2.enableOutputs(); //enable pins
}

void loop()
{
    PingPong();
    stepper1.run();
    stepper2.run();
}

void PingPong()
{
    if(pingpong_CW == false) //CW rotation is not yet done
    {
        stepper1.moveTo(3000); //set a target position, it should be an absolute. relative (move()) leads to "infinite loop"
        if(stepper1.distanceToGo() == 0) //When the above number of steps are completed, we manipulate the variables
        {
            pingpong_CW = true; //CW rotation is now done
            pingpong_CCW = false; //CCW rotation is not yet done - this allows the code to enter the next ifs
        }
    }

    if(pingpong_CW == true && pingpong_CCW == false) //CW is completed and CCW is not yet done
    {
        stepper1.moveTo(0); //Absolute position
        if(stepper1.distanceToGo() == 0) //When the number of steps are completed
            {
            pingpong_CCW = true; //CCW is now done
            pingpong_CW = false; //CW is not yet done. This allows the code to enter the first if again!
        }
    }

    if(pingpong_CCW2 == false) //CW rotation is not yet done
    {
        stepper2.moveTo(2000); //set a target position, it should be an absolute. relative (move()) leads to "infinite loop"
        if(stepper2.distanceToGo() == 0) //When the above number of steps are completed, we manipulate the variables
        {
            pingpong_CCW2 = true; //CW rotation is now done
            pingpong_CW2 = false; //CCW rotation is not yet done - this allows the code to enter the next ifs
        }
    }

    if(pingpong_CCW2 == true && pingpong_CW2 == false) //CW is completed and CCW is not yet done
    {
            stepper2.moveTo(0); //Absolute position
        if(stepper2.distanceToGo() == 0) //When the number of steps are completed
        {
            pingpong_CW2 = true; //CCW is now done
            pingpong_CCW2 = false; //CW is not yet done. This allows the code to enter the first if again!
        }
    }
}