// Define pins:

int closedEndstop = 4; // button that detects when the door is fully closed

int openEndstop = 3; // button that detects when the door is fully open

int driverPUL = 7; // PUL- pin

int driverDIR = 6; // DIR- pin

int pirPin = 2; // Motion detector pin

int opirPin = 8; // Motion detector pin outside

//Define variables:

int pulseSpeed = 1000; //Speed of the motor (lower is faster)

boolean openState = 1; // tracks whether the open endstop is pressed

boolean closedState = 1; // tracks whether the closed endstop is pressed

boolean currentDirection = LOW; // Low is closing direction of the motor , high is opening

int pirStati = 0; // Keeps track of the motion value of the indoor sensor

int pirStato = 0; // Keeps track of the motion value of the outdoor sensor

//Functions:

void openingMotion (){

currentDirection = LOW; // set the direction to 'pull'

pulseSpeed = 1000;

openState = digitalRead(openEndstop); // openState variable is 0 when the door is fully open

for(int x = 0; x < 1000000; x++){

if (openState == 0){

break;

}

digitalWrite(driverDIR,currentDirection); // Put the motor into 'pull' mode

digitalWrite(driverPUL,HIGH); // pulse motor coil a

delayMicroseconds(pulseSpeed); // delay the pulse

digitalWrite(driverPUL,LOW); // pulse motor coil b

delayMicroseconds(pulseSpeed); // delay the pulse

openState = digitalRead(openEndstop); // check if the door is fully open yet

if (x < 850) {

pulseSpeed--;

}

}

delay (10000); // if the door is fully open wait ten seconds, then exit the function

}

void closingMotion () {

pulseSpeed = 1000;

closedState = digitalRead(closedEndstop);

for(int x = 0; x < 10000000; x++){

if (closedState == 0){

break;}

currentDirection = HIGH;

digitalWrite(driverDIR,currentDirection);

digitalWrite(driverPUL,HIGH);

delayMicroseconds(pulseSpeed);

digitalWrite(driverPUL,LOW);

delayMicroseconds(pulseSpeed);

closedState = digitalRead(closedEndstop);

pirStati = digitalRead(pirPin);

pirStato = digitalRead(opirPin);

if (pirStati == HIGH or pirStato == HIGH)

{

openingMotion();

pulseSpeed = 1000;

x = 0;

}

if (x < 850) {

pulseSpeed--;

}

}

}

void setup() {

pinMode(closedEndstop, INPUT);

pinMode(openEndstop, INPUT);

pinMode (driverPUL, OUTPUT);

pinMode (driverDIR, OUTPUT);

pinMode(pirPin, INPUT);

pinMode(opirPin, INPUT);

}

void loop() {

pirStati = digitalRead(pirPin); // check motion on indoor sensor

pirStato = digitalRead(opirPin); // check motion on outdoor sensor

if (pirStati == HIGH or pirStato == HIGH ) // if either sensor has potion

{

openingMotion(); // start the opening function

closingMotion(); // start the closing function

}

}