gistfile1.txt

#include <avr/io.h>
#include <util/delay.h>


#define	stepPin PD7            //Define Step pin
#define dirPin PD6             //Define Direction pin
#define Enable PD5              //Define Enable pin
 

int main(void)
{
    int x,y;
    DDRD |= (1<<5)|(1<<6)|(1<<7);     // Configure PORTD5, PORTD6, PORTD7 as output	 
    PORTD &= ~(1<<5);                 // Enable driver
    DDRD &= ~(1<<PD2) | (1<<PD3);
    PORTD |= (1<<PD2) | (1<<PD3);
	
    while (1) 
    {
	  	              //Make PORTD6 high to rotate motor in clockwise direction
		
	  	for(x=0; x<4; x++)              //Give 50 pulses to rotate stepper motor by 90 degree's in full step mode
	  	{
		    for(y=0; y<50; y++)
		    {
                /*
		      PORTD |=(1<<7);
		      _delay_ms(0.7);
		      PORTD &=~(1<<7);
		      _delay_ms(0.7);
              */
		    }
		    
		  }
		if ( !(PIND & (1<<PD2)) )	{
            PORTD |= (1<<6);  
               PORTD |=(1<<7);
		      _delay_ms(5);
		      PORTD &=~(1<<7);
		      _delay_ms(5);
        }	 else if( !(PIND & (1<<PD3)) ){
                PORTD &= ~(1<<6); 
            PORTD |=(1<<7);
		      _delay_ms(5);
		      PORTD &=~(1<<7);
		      _delay_ms(5);

        }
        


		 
    }
}