File content as of revision 1:14cd9d276832:

#include "mbed.h"

DigitalIn BT(BUTTON1);
//DigitalOut led(LED1);

DigitalOut IN1_MOTOR1(D2);
DigitalOut IN2_MOTOR1(D4);


DigitalOut IN1_MOTOR2(D7);
DigitalOut IN2_MOTOR2(D8);

DigitalOut EN_MOTOR_X(D3);
DigitalOut EN_MOTOR_Y(D5);
DigitalOut EN_MOTOR_Z(D6);

Serial pc(USBTX, USBRX); // tx, rx

void steps_motor(int STEPS_AMOUNT, int DIRECTION, int SPEED, int AXIS); //speed = passos por segundo

int step = 1;

int main()
{
    pc.baud(115200);
    pc.printf("Iniciando...\n\r");
    wait_ms(1000);
    
    steps_motor(200, 0, 50, 1);
    steps_motor(200, 1, 50, 2);
    steps_motor(200, 0, 50, 3);

    
    while(1) 
    { 
        if(BT == 0)
        {
            steps_motor(1, 0, 10, 3);
            wait(0.1); 
        }
    }
}



void steps_motor(int STEPS_AMOUNT, int DIRECTION, int SPEED, int AXIS)
{
    if(AXIS == 1)
    {
        EN_MOTOR_X = 1;  
    }
    
    if(AXIS == 2)
    {
        EN_MOTOR_Y = 1; 
    }
    
    if(AXIS == 3)
    {
        EN_MOTOR_Z = 1; 
    }
    
    SPEED = 1000 / SPEED; 
    SPEED = SPEED / 4;
    
    if(DIRECTION == 0)
    {
        while(STEPS_AMOUNT != 0)
        {
            if((step == 1) && (STEPS_AMOUNT > 0))
            {
                IN1_MOTOR1 = 1;
                IN2_MOTOR1 = 0;
                IN1_MOTOR2 = 1;
                IN2_MOTOR2 = 0;
                wait_ms(SPEED);
                step++;
                STEPS_AMOUNT--;
                pc.printf("\n\r STEPS_AMOUNT 1: %i",STEPS_AMOUNT);
            }
                        
            if((step == 2) && (STEPS_AMOUNT > 0))
            {
                IN1_MOTOR1 = 0;
                IN2_MOTOR1 = 1;
                IN1_MOTOR2 = 1;
                IN2_MOTOR2 = 0;
                wait_ms(SPEED);
                step++;
                STEPS_AMOUNT--;
                pc.printf("\n\r STEPS_AMOUNT 2: %i",STEPS_AMOUNT);
            }
                    
            if((step == 3) && (STEPS_AMOUNT > 0))
            {
                IN1_MOTOR1 = 0;
                IN2_MOTOR1 = 1;
                IN1_MOTOR2 = 0;
                IN2_MOTOR2 = 1;
                wait_ms(SPEED);
                step++;
                STEPS_AMOUNT--;
                pc.printf("\n\r STEPS_AMOUNT 3: %i",STEPS_AMOUNT);
            }
                  
            if((step == 4) && (STEPS_AMOUNT > 0))
            {
                IN1_MOTOR1 = 1;
                IN2_MOTOR1 = 0;
                IN1_MOTOR2 = 0;
                IN2_MOTOR2 = 1;
                wait_ms(SPEED);
                step++;
                STEPS_AMOUNT--;
                pc.printf("\n\r STEPS_AMOUNT 4: %i",STEPS_AMOUNT);
            }
            
            if(step > 4)
            {
                step = 1;
            }   
        }
        pc.printf("\n\r Acabei");
    }

    if(DIRECTION == 1)
    {
        while(STEPS_AMOUNT > 0)
        {
            if((step == 1) && (STEPS_AMOUNT > 0))
            {
                IN1_MOTOR1 = 1;
                IN2_MOTOR1 = 0;
                IN1_MOTOR2 = 0;
                IN2_MOTOR2 = 1;
                wait_ms(SPEED);
                step++;
                STEPS_AMOUNT--;
            }
                        
            if((step == 2) && (STEPS_AMOUNT > 0))
            {
                IN1_MOTOR1 = 0;
                IN2_MOTOR1 = 1;
                IN1_MOTOR2 = 0;
                IN2_MOTOR2 = 1;
                wait_ms(SPEED);
                step++;
                STEPS_AMOUNT--;
            }
                    
            if((step == 3) && (STEPS_AMOUNT > 0))
            {
                IN1_MOTOR1 = 0;
                IN2_MOTOR1 = 1;
                IN1_MOTOR2 = 1;
                IN2_MOTOR2 = 0;
                wait_ms(SPEED);
                step++;
                STEPS_AMOUNT--;
            }
                  
            if((step == 4) && (STEPS_AMOUNT > 0))
            {
                IN1_MOTOR1 = 1;
                IN2_MOTOR1 = 0;
                IN1_MOTOR2 = 1;
                IN2_MOTOR2 = 0;
                wait_ms(SPEED);
                step++;
                STEPS_AMOUNT--;
            }
            
            if(step > 4)
            {
                step = 1;
            }
        
        }
    }
    EN_MOTOR_X = 0;
    EN_MOTOR_Y = 0;
    EN_MOTOR_Z = 0;
}