there and back again

src/main.cpp

@@ -97,6 +97,7 @@ void setup() {
 bool shaft = false;
 unsigned int stepsDelay = 28000 / MICROSTEPS;
 bool shouldRun = true;
+int stepsMade = 0;
 
 void loop() {
   if (Serial.available()) {
@@ -152,21 +153,27 @@ void loop() {
   }
 
   if (shouldRun) {
+    if (stepsMade >= STEPS_PER_REV) {
+      stepsMade = 0;
+      shaft = !shaft;
+      driver.shaft(shaft);
+    }
+
     for (uint32_t i = 100; i>0; i--) {
       digitalWrite(STEP_PIN, HIGH);
       delayMicroseconds(5);
       digitalWrite(STEP_PIN, LOW);
       delayMicroseconds(stepsDelay);
-
       // if (digitalRead(DIAG_PIN) == HIGH) {
       //   Serial.println("STALL");
       // }
     }
+    stepsMade += 100;
 
-    if (driver.SG_RESULT() > 105) {
-      shaft = !shaft;
-      driver.shaft(shaft);
-    }
+    // if (driver.SG_RESULT() > 105) {
+    //   shaft = !shaft;
+    //   driver.shaft(shaft);
+    // }
 
     // Serial.println(driver.SG_RESULT(), DEC);
     // Serial.print(" ");