quase lá

#include <A4988.h>
#include <BasicStepperDriver.h>
#include <DRV8825.h>
#include <DRV8834.h>
#include <DRV8880.h>
#include <MultiDriver.h>
#include <SyncDriver.h>

BasicStepperDriver stepper(200, 8, 9, 10);
BasicStepperDriver mtr(200, 5, 6, 7);

void setup() {
  // put your setup code here, to run once:
  stepper.begin(120, 1);
  mtr.begin(60, 1);


}

void loop() {
  // put your main code here, to run repeatedly:
  rodar(3, 120, 2, 1);
  rodar(5, 170, 3, 1);
  rodar(7, 100, 2, 0);
  rodar(1, 200, 3, 0);


}

void rodar(int v, int vel, int m, bool s) {

  if (m == 2) {
    if (s == true) {
      for (int i = 0; i < (40 * v) ; i++) {
        mtr.enable();
        mtr.setRPM(vel);
        mtr.move(5);
        delayMicroseconds(10);
      }
      mtr.disable();
    }

    else {
      for (int i = 0; i < (40 * v) ; i++) {
        mtr.enable();
        mtr.setRPM(vel);
        mtr.move(-5);
        delayMicroseconds(10);
      }
      mtr.disable();
    }
  }
  if (m == 3) {
    if (s = true) {
      for (int i = 0; i < (40 * v) ; i++) {
        stepper.enable();
        stepper.setRPM(vel);
        stepper.move(5);
        delayMicroseconds(10);
      }
      stepper.disable();
    }

    else {
      for (int i = 0; i < (40 * v) ; i++) {
        stepper.enable();
        stepper.setRPM(vel);
        stepper.move(-5);
        delayMicroseconds(10);
      }
      stepper.disable();
    }
  }
}