int motorPin[4] = {6, 8, 10, 12};
int ccw[8][4] =
{
{HIGH, LOW, LOW, HIGH},
{LOW , LOW, LOW, HIGH},
{LOW , LOW, HIGH, HIGH},
{LOW , LOW, HIGH, LOW},
{LOW , LOW, HIGH, LOW},
{LOW , HIGH, HIGH, LOW},
{HIGH, HIGH, LOW , LOW},
{HIGH, LOW, LOW , LOW}
};

long unsigned T1, T2;
long unsigned ip, np, npMin;
double dt, t, phi, phinow, dphi;
void setup() {

// constantes
double inch2cm = 2.54; // 1 pouce = 2.54 cm

// moteur
int ppr = 4096; // inpulsions par revolution (reduction = 64)

// geometrie
double tpi; // pas par pouce
double beam; // charnière - vis
double y0; // depassement de vis initial en cm
double y1; // depassement de vis final en cm

tpi = 25.4;
beam = 17.75;
y0 = 19.5;
y1 = 1.0;
phi = atan2(195, 177.5)*180/3.14159265; //angle 0 en deg

np = ((y0-y1)/inch2cm)*tpi*ppr; // impulsions de y0 à y1
ip = 0; // conpteur d'impulsions

// pin moteur en sortie
for (int j = 0; j < 4; j++)
pinMode(motorPin[j], OUTPUT);
analogReference(DEFAULT);

T1 = millis(); // temps en µs, ms
T2 = micros();
}

void loop(){ //--------------------------------------------------------------------------------
Serial.begin(9600);
Serial.println(np);

while (ip <= np) {
int ic = ip % 8; // utilise une ligne de la matrice a chaque pas, modulo 8  / We use one matrix line per step

// stepping
t = 1000000*dt;
Serial.println("zone 1 pass"); //----- ZONE 1
while (micros() > T2+t){
T2 = micros();
Serial.println("zone 2 pass"); //----- ZONE 2
for (int j = 0; j < 4; j++) {
digitalWrite(motorPin[3-j], ccw[ic][j]);
}
}
ip = ip + 1;
// Determine phinow et delta phi

phinow = atan2(195-(ip/512), 177.5)*180/3.14159265; // phi apres phasage en deg
dphi = phi-phinow;

// Determine dt
dt = dphi*86164.1/360; //temps que met la terre pour effectuer dphi / Time the earth take to rotate dphi

//affichage
while (millis() > T1+500){
T1 = millis();
Serial.print("ip = ");
Serial.println(ip);
Serial.print("dphi = ");
Serial.println(dphi);
Serial.print("dt= ");
Serial.println(dt);
Serial.print("phinow= ");
Serial.println(phinow);
Serial.print("phi= ");
Serial.println(phi);
Serial.println(" ");
}
phinow = phi;
}
}