Differential steering with stepper motors

Projects General Guidance
5

I Tried stepper .h instead of accelstepper and it seems to run better. the motor doesn't run super smooth but maybe this is not so abnormal for a stepper. i only use one motor for the test ( motor_rechts).
one thing is strange, when I change from forward to reverse the loop seems to stop and the motor runs at a slow idle speed for a few seconds.

#include <Stepper.h>

 int StepsPerRevolution = 400;  // change this to fit the number of steps per revolution
// for your motor


// initialize the stepper library on pins 8 through 11:

Stepper myStepper(StepsPerRevolution, 9,4);
//int stepCount = 0;  // number of steps the motor has taken

int x_key = A2;
int y_key = A3;
static int x_pos;  // forward reverse
static int y_pos;   //  stearing

#define dirPinStepper    5
#define enablePinStepper 6


static int motor_speed;
int motor_speed1;
 static int motor_links;
static int motor_rechts;

static int faktorL1;  //steering correction factor
static int faktorR1;  //steering correction factor


void setup() {
  // The only AccelStepper value we have to set here is the max speeed, which is higher than we'll ever go
  


  pinMode (4, OUTPUT);
 pinMode (5, OUTPUT);
  pinMode (6, OUTPUT);
 
    Serial.begin(9600);

}

void loop() {




 //static int current_speed = 0;         // Holds current motor speed in steps/second
  //static int analog_read_counter ;    // Counts down to 0 to fire analog read
 // static char sign = 0;                     // Holds -1, 1 or 0 to turn the motor on/off and control direction
 // static int analog_value = 0;              // Holds raw analog value.

 //if (analog_read_counter > 0) {
  // analog_read_counter--; }
  
   //   analog_read_counter = 100;
      
  faktorL1 = map (y_pos, 530, 650, 1, 3000);
  faktorL1 = constrain ( faktorL1, 1, 3000);

  faktorR1 = map (y_pos, 510, 410, 1, 3000);
  faktorR1 = constrain ( faktorR1, 1, 3000);


 x_pos = analogRead (x_key) ;  //Reading the forward reverse value 240 tot 870 center value 520
 
  y_pos = analogRead (y_key) ;  //Reading the steering value


 if (x_pos > 530 && x_pos < 900 ) { 
//forward
 //stepper1.runSpeed();
////
 
 digitalWrite (dirPinStepper, HIGH);
 digitalWrite (enablePinStepper, HIGH);

    motor_speed = map(x_pos, 510, 900, 100, 5000);   
    motor_speed = constrain ( motor_speed, 10, 5000);



    ;
    motor_rechts = (motor_speed - faktorR1);
    motor_links = ( motor_speed -  faktorL1);
    motor_links = constrain ( motor_links, 10, 5000);
    motor_rechts = constrain ( motor_rechts, 10, 5000);

//if (motor_rechts > 0) {
    myStepper.setSpeed(motor_rechts);
    // step 1/100 of a revolution:
    myStepper.step(StepsPerRevolution );
 }

//else if (x_pos > 500 && x_pos < 529) { //X throttle center

 // motor_speed = 0;
 //}






else if (x_pos > 180 && x_pos < 500)  //X reverse


  {digitalWrite (dirPinStepper, LOW);
 digitalWrite (enablePinStepper, HIGH);

  motor_speed = map(x_pos, 520, 200, 100, 5000);
  motor_speed = constrain ( motor_speed, 10, 5000);

  motor_rechts = (motor_speed - faktorL1);
  motor_links = ( motor_speed  - faktorR1);

  motor_links = constrain ( motor_links, 10, 5000);
  motor_rechts = constrain ( motor_rechts, 10, 5000);

  
 myStepper.setSpeed(motor_rechts);
    // step 1/100 of a revolution:
    myStepper.step(StepsPerRevolution );
 
  }




else {
  motor_speed = 1 ;

  digitalWrite (enablePinStepper, LOW);
}


Serial.println(motor_rechts);














 


}