4st

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

Servo servo;

const float STEPS_PER_REV = 32;
const float GEAR_RED = 64;
const float STEPS_PER_OUT_REV = STEPS_PER_REV * GEAR_RED;

#define START 2 // Start-Knopf

#define OUT_LED 13 // Blink-Led

#define TINE_SELECTION_IN 4 // Blink-Led

int StepsRequired;

bool tine_selection_io = false;

Stepper steppermotor(STEPS_PER_REV, 8, 10, 9, 11);

void setup() {
  Serial.begin(9600);

  pinMode(START, INPUT);
  pinMode(3, INPUT);
  pinMode(7, INPUT);
  pinMode(TINE_SELECTION_IN, INPUT);

  pinMode(OUT_LED, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(6, OUTPUT);

  servo.attach(12);

  lowerTines();
}

void loop() {
  if (digitalRead(TINE_SELECTION_IN) != HIGH && !tine_selection_io) {
    Serial.println("Waiting for tines signal...");
    digitalWrite(6, HIGH);
    return;
  } else {
    Serial.println("Received tines signal...");
    digitalWrite(6, LOW);
    tine_selection_io = true;

    if (digitalRead(START) != HIGH) {
      Serial.println("Ready... Waiting for start...");

      digitalWrite (OUT_LED, HIGH);
      delay(500);

      return;
    } else {
      digitalWrite (OUT_LED, LOW);

      Serial.println("Received start signal... Starting in 5 seconds...");

      delay(5000);
    }
  }

  Serial.println("Moving forward...");
  moveStepperForwardUntilEndStop();

  delay(1000);

  Serial.println("Lifting tines...");
  liftTines();

  delay(1000);

  Serial.println("Lowering tines...");
  lowerTines();

  delay(1000);

  Serial.println("Moving backwards...");
  moveStepperBackwardsUntilEndStop();

  Serial.println("Done... Sending signal to display image...");
  digitalWrite(5, HIGH);
  delay(500);
  digitalWrite(5, LOW);
  delay(500);
  digitalWrite(5, HIGH);
  delay(500);
  digitalWrite(5, LOW);
  delay(500);
}

void liftTines() {
  for(int pos = 165; pos >= 50; pos--) {
    servo.write(pos);
    delay(25);
  };
}

void lowerTines() {
  for(int pos = 50; pos <= 165; pos += 2) {
    servo.write(pos);
    delay(25);
  }
}

void moveStepperForwardUntilEndStop() {
  steppermotor.setSpeed(700);

  while (digitalRead(3) != HIGH) {
    steppermotor.step(-150);
  }

  Serial.println("EndStop 1 pressed...");
}

void moveStepperBackwardsUntilEndStop() {
  steppermotor.setSpeed(700);

  while (digitalRead(7) != HIGH) {
    steppermotor.step(150);
  }

  Serial.println("EndStop 2 pressed...");
}