some progress of flow

motorshielfCode/motorshielfCode.ino

@@ -1,33 +1,58 @@
 #include <Wire.h>
 #include <Adafruit_MotorShield.h>
-//#include "utility/Adafruit_MS_PWMServoDriver.h"
+#include "utility/Adafruit_MS_PWMServoDriver.h"
 
 // Create the motor shield object with the default I2C address
 Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
-// Or, create it with a different I2C address (say for stacking)
-// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61); 
 
-// Connect a stepper motor with 200 steps per revolution (1.8 degree)
-// to motor port #2 (M3 and M4)
 Adafruit_StepperMotor *myMotor = AFMS.getStepper(200, 2);
-
-
+Adafruit_StepperMotor *myMotor2 = AFMS.getStepper(32, 1);
+const int pingPin = 3;
+long cm;
+long finalUltraSoundValue;
 
 void setup() {
   Serial.begin(9600);           // set up Serial library at 9600 bps
   Serial.println("Stepper test!");
 
-  AFMS.begin();  // create with the default frequency 1.6KHz
-  //AFMS.begin(1000);  // OR with a different frequency, say 1KHz
+//  AFMS.begin();  // create with the default frequency 1.6KHz
+  AFMS.begin();  // OR with a different frequency, say 1KHz
 
-  myMotor->setSpeed(60);  // 10 rpm   
+  myMotor->setSpeed(100);  // 10 rpm   
+  myMotor2->setSpeed(200);
+}
+
+void ultraSoundResponse() {
+  long duration;
+  pinMode(pingPin, OUTPUT);
+  digitalWrite(pingPin, LOW);
+  delayMicroseconds(1);
+  digitalWrite(pingPin, HIGH);
+  delayMicroseconds(1);
+
+  pinMode(pingPin, INPUT);
+  duration = pulseIn(pingPin, HIGH);
+
+  cm = microsecondsToCentimeters(duration);
+//  if(cm < 30) {
+//    sensorResponse();
+//  }
+}
+
+long microsecondsToCentimeters(long microseconds) {
+  return microseconds / 29 / 2;
 }
 
 void loop() {
-  Serial.println("Single coil steps");
-  myMotor->step(1000, FORWARD, DOUBLE); 
-  delay(100);
-  myMotor->step(1000, BACKWARD, DOUBLE); 
+//  myMotor->step(1000, FORWARD, DOUBLE); 
+//  myMotor2->step(100, FORWARD, DOUBLE);
+//  delay(100);
+//  myMotor2->step(100, BACKWARD, DOUBLE);
+//  delay(100);
+runmotorAndReadSensor(100);
+delay(1000);
+//    
+//    ultraSoundResponse();
 //
 //  Serial.println("Double coil steps");
 //  myMotor->step(100, FORWARD, DOUBLE); 
@@ -41,3 +66,29 @@ void loop() {
 //  myMotor->step(50, FORWARD, MICROSTEP); 
 //  myMotor->step(50, BACKWARD, MICROSTEP);
 }
+
+void runmotorAndReadSensor(int input) { 
+  int i = 0;
+  int steps = 0;
+  for(int i; i < input; i++) {
+    steps = steps + i;
+  }
+
+  do {
+     myMotor2->step(input, FORWARD, DOUBLE);
+     ultraSoundResponse();
+     finalUltraSoundValue = Serial.println(cm);
+  }
+  while (steps >= input);
+    Serial.println("stopped");
+    myMotor2->release();
+} 
+
+void mappingStepperData(int sensorValue) {
+
+  int mappedStepper = map(sensorValue, 0, );
+
+}
+
+
+