Contraptor

void step(boolean dir,int steps){
  digitalWrite(dirPin,dir);
  delay(50);
  for(int i=0;i<steps;i++){
    digitalWrite(stepperPin, HIGH);
    delayMicroseconds(100);
    digitalWrite(stepperPin, LOW);
    delayMicroseconds(100);
  }
}

#define X_STEPS_PER_INCH 300.0
#define X_STEPS_PER_MM   300.0

// ACME leadscrew
//#define X_STEPS_PER_INCH 6400.0
//#define X_STEPS_PER_MM   251.968

#define Y_STEPS_PER_INCH 300.0
#define Y_STEPS_PER_MM   300.0

#define Z_STEPS_PER_INCH 300.0
#define Z_STEPS_PER_MM   300.0

//our maximum feedrates in units/minute
#define FAST_XY_FEEDRATE_INCH 200 //300
#define FAST_Z_FEEDRATE_INCH  150
#define FAST_XY_FEEDRATE_MM 200
#define FAST_Z_FEEDRATE_MM  150

// Maximum acceleration in units/minute/second
// E.g. for 300.0 machine would accelerate to 150units/minute in 0.5sec etc.
#define MAX_ACCEL_INCH 400.0 //500.0
#define MAX_ACCEL_MM 400.0

// Maximum change in velocity per axis - if the change in velocity at the start
// of the next move is greater than this for at least one axis, we will decelerate
// to a stop before commencing the move, otherwise we will keep going
// value is units/minute
#define MAX_DELTA_V_INCH 500.0
#define MAX_DELTA_V_MM 500.0

// Set to one if endstop outputs are inverting (ie: 1 means open, 0 means closed)                                                                                                              
// RepRap opto endstops are *not* inverting.                                                                                                                                                   
#define ENDSTOPS_INVERTING 0                                                                                                                                                                   

// Optionally disable max endstops to save pins or wiring                                                                                                                                      
#define ENDSTOPS_MIN_ENABLED 0                                                                                                                                                                 
#define ENDSTOPS_MAX_ENABLED 0                                                                                                                                                                 

// How many temperature samples to take.  each sample takes about 100 usecs.                                                                                                                   
#define TEMPERATURE_SAMPLES 5

// The *_ENABLE_PIN signals are active high as default. Define this
// to one if they should be active low instead (e.g. if you're using different
// stepper boards).
// RepRap stepper boards are *not* inverting.
#define INVERT_ENABLE_PINS 1

// If you use this firmware on a cartesian platform where the
// stepper direction pins are inverted, set these defines to 1
// for the axes which should be inverted.
// RepRap stepper boards are *not* inverting.
#define INVERT_DIR 0 // CHANGED CM - ONLY ONE FOR ALL AXES

#define STEPPERS_ALWAYS_ON 1
/****************************************************************************************
* digital i/o pin assignment
*
* this uses the undocumented feature of Arduino - pins 14-19 correspond to analog 0-5
****************************************************************************************/

//cartesian bot pins
#define X_STEP_PIN A2
#define X_DIR_PIN A1
#define X_ENABLE_PIN A0
#define X_MIN_PIN 13
#define X_MAX_PIN 13

#define Y_STEP_PIN A6
#define Y_DIR_PIN A5
#define Y_ENABLE_PIN A4
#define Y_MIN_PIN 13
#define Y_MAX_PIN 13

#define Z_STEP_PIN A11
#define Z_DIR_PIN A10
#define Z_ENABLE_PIN A9
#define Z_MIN_PIN 13
#define Z_MAX_PIN 13

//extruder pins
// NOTE - USING Timer1 FOR STEPPER TIMER SO CAN'T USER PINS 9 OR 10 FOR PWM
// OUTPUT (EXTRUDER_MOTOR_SPEED_PIN, EXTRUDER_HEATER_PIN, OR EXTRUDER_FAN_PIN)
#define EXTRUDER_MOTOR_SPEED_PIN   19
#define EXTRUDER_MOTOR_DIR_PIN     19
#define EXTRUDER_HEATER_PIN        19
#define EXTRUDER_FAN_PIN           19
#define EXTRUDER_THERMISTOR_PIN    -1  //a -1 disables thermistor readings
#define EXTRUDER_THERMOCOUPLE_PIN  -1 //a -1 disables thermocouple readings