Moving stepper motor to initial postion and diagonal

Other Hardware Motors, Mechanics, Power and CNC
6

I just realized that on this code I didn't assigned instantMillis to millis() - instantMillis = millis() - on the Loop. But on the code that I ran I did that. this is the correct code that I used:

//Program to control the cartesian robot, this program will draw a square and a triangle using
//the robot's stepper motors

//Definition of the motors and end stops pins
#define xsteps         54
#define xdirection     55
#define endstopx       3
#define xenable        38
#define ysteps         60
#define ydirection     61
#define endstopy       14
#define yenable        56
#define zsteps         46
#define zdirection     48
#define endstopz       18
#define zenable        62



int count; //variables to count the steps on x, y and z direction
unsigned long instantMillis; 
unsigned long prevMillis = 0;
unsigned long stepsMillis = 25; // time between steps in milliseconds
void setup() {
  //All the pins for the motors movements are considered outputs, the pins for the endstops
  //are inputs_pullups, used to avoid a float input on the switches
  pinMode (xsteps, OUTPUT);
  pinMode (xdirection, OUTPUT);
  pinMode(xenable, OUTPUT);
  pinMode (ysteps, OUTPUT);
  pinMode (ydirection, OUTPUT);
  pinMode(yenable, OUTPUT);
  pinMode (zsteps, OUTPUT);
  pinMode (zdirection, OUTPUT);
  pinMode(zenable, OUTPUT);

  pinMode (endstopx, INPUT_PULLUP);
  pinMode (endstopy, INPUT_PULLUP);
  pinMode (endstopz, INPUT_PULLUP);

  digitalWrite(xenable, LOW);
  digitalWrite(yenable, LOW);
  digitalWrite(zenable, LOW);

  initialposition();

}

//function to move the stepper motor on x direction
void stepsx (){
  if (instantMillis - prevMillis >= stepsMillis){ //the motor will only take a step when 25ms have elapsed
    prevMillis += stepsMillis;
    digitalWrite (xsteps, HIGH);  
    digitalWrite (xsteps, LOW);
  }
}

//function to move the stepper motor on y direction
void stepsy(){
  if (instantMillis - prevMillis >= stepsMillis){
    prevMillis += stepsMillis;
    digitalWrite (ysteps, HIGH);    
    digitalWrite (ysteps, LOW);
  }
}

//function to move the stepper motor on z direction
void stepsz(){
  if (instantMillis - prevMillis >= stepsMillis){
    prevMillis += stepsMillis;
    digitalWrite (zsteps, HIGH);
    digitalWrite (zsteps, HIGH);
  }
}

//function to move the end effector in diagonal
void stepdiagonal(){
  digitalWrite (xsteps, HIGH);
  digitalWrite (ysteps, HIGH);
  delay(1);
  digitalWrite (xsteps, LOW);
  digitalWrite (ysteps, LOW);
 }


//function to put the end effector on the initial position
void initialposition(){
  int endstopReadx, endstopReady, endstopReadz;

  endstopReadx = digitalRead (endstopx);
  endstopReady = digitalRead (endstopy);
  endstopReadz = digitalRead (endstopz);
  
  if (endstopReadx == LOW){
    digitalRead (endstopx);
    digitalWrite (xdirection, HIGH);
    stepsx();
  }
  if (endstopReady == LOW){
    digitalWrite (ydirection, LOW);
    stepsy();
  }
  if (endstopReadz == LOW){
   
    digitalWrite (zdirection, LOW);
    stepsz();
  }
}

void loop() {
    instantMillis = millis();
    for (count = 0; count<=700; count++){
    digitalWrite( xdirection, LOW);
    stepsx();
  }
}