int speed = 2; 

/*
Wave Drive
************************************************************************************
|--|--|--|--|--|--|--|--|--|--|--|
1	---|           |---|               
0	   |-----------|   |------------		Coil 1 - Pin A

1	   |---|           |---|          
0	---|   |-----------|   |--------		Coil 2 - Pin A

1	       |---|           |---|   
0	-------|   |-----------|   |----		Coil 1 - Pin B

1	           |---|           |---|
0	-----------|   |-----------|   |		Coil 2 - Pin B

***********************************************************************************
*/

void step_wave(int num_steps, int direction){
	
	number_of_loops = 0;
	while(number_of_loops < num_steps){

		if(direction == 0) {
			if(step_pos == 0) {
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
			
				step_pos = 1;
			}
			else if(step_pos == 1){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
		
				step_pos = 2;
			}
			else if(step_pos == 2){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 0;
			
				step_pos = 3;
			}
			else if(step_pos == 3){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 1;
		
				step_pos = 0;
			}
		}
		if(direction == 1) {
			if(step_pos == 0) {
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 1;
			
				step_pos = 1;
			}
			else if(step_pos == 1){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 0;
		
				step_pos = 2;
			}
			else if(step_pos == 2){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
			
				step_pos = 3;
			}
			else if(step_pos == 3){
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
		
				step_pos = 0;
			}
		}

		Delay10KTCYx(speed);

		number_of_loops++;
	}
}


/*
Full Step Drive
************************************************************************************
|--|--|--|--|--|--|--|--|--|--|--|
1	-----|     |-----|     |-----|           
0	     |-----|     |-----|     |--		Coil 1 - Pin A

1	  |-----|     |-----|     |-----    
0	--|     |-----|     |-----|			Coil 2 - Pin A

1	     |-----|     |-----|     |--
0	-----|     |-----|     |-----|			Coil 1 - Pin B

 1	--|     |-----|     |-----|    
0	  |-----|     |-----|     |-----		Coil 2 - Pin B

***********************************************************************************
*/

void step_full(int num_steps, int direction){
	
	number_of_loops = 0;
	while(number_of_loops < num_steps){

		if(direction == 0) {
			if(step_pos == 0) {
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 1;
			
				step_pos = 1;
			}
			else if(step_pos == 1){
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
		
				step_pos = 2;
			}
			else if(step_pos == 2){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 0;
			
				step_pos = 3;
			}
			else if(step_pos == 3){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 1;
		
				step_pos = 0;
			}
		}
		if(direction == 1) {
			if(step_pos == 0) {
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 1;
			
				step_pos = 1;
			}
			else if(step_pos == 1){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 0;
		
				step_pos = 2;
			}
			else if(step_pos == 2){
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
			
				step_pos = 3;
			}
			else if(step_pos == 3){
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 1;
		
				step_pos = 0;
			}
		}

		Delay10KTCYx(speed);

		number_of_loops++;
	}
}


/*
Half Step Drive
************************************************************************************
|--|--|--|--|--|--|--|--|--|--|--|--|--|--|--|--|--|--|
1	--------|              |--------|              |-----
0	        |--------------|        |--------------|		Coil 1 - Pin A

1	     |--------|              |--------|       
0	-----|        |--------------|        |--------------		Coil 2 - Pin A

1	           |--------|              |--------|     
0	-----------|        |--------------|        |--------		Coil 1 - Pin B

 1	--|              |--------|              |--------|    
0	  |--------------|        |--------------|        |--		Coil 2 - Pin B

***********************************************************************************
*/

void step_half(int num_steps, int direction){
	
	number_of_loops = 0;
	while(number_of_loops < num_steps){

		if(direction == 0) {
			if(step_pos == 0) {
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 1;
			
				step_pos = 1;
			}
			else if(step_pos == 1){
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
		
				step_pos = 2;
			}
			else if(step_pos == 2){
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
			
				step_pos = 3;
			}
			else if(step_pos == 3){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
		
				step_pos = 4;
			}
			else if(step_pos == 4){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 0;
		
				step_pos = 5;
			}
			else if(step_pos == 5){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 0;
		
				step_pos = 6;
			}
			else if(step_pos == 6){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 1;
		
				step_pos = 7;
			}
			else if(step_pos == 7){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 1;
		
				step_pos = 0;
			}
		}
		if(direction == 1) {
			if(step_pos == 0) {
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 1;
			
				step_pos = 1;
			}
			else if(step_pos == 1){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 1;
		
				step_pos = 2;
			}
			else if(step_pos == 2){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 0;
			
				step_pos = 3;
			}
			else if(step_pos == 3){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 1;
				LATCbits.LATC7 = 0;
		
				step_pos = 4;
			}
			else if(step_pos == 4){
				LATDbits.LATD2 = 0;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
		
				step_pos = 5;
			}
			else if(step_pos == 5){
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 1;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
		
				step_pos = 6;
			}
			else if(step_pos == 6){
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 0;
		
				step_pos = 7;
			}
			else if(step_pos == 7){
				LATDbits.LATD2 = 1;
				LATDbits.LATD3 = 0;
				LATCbits.LATC6 = 0;
				LATCbits.LATC7 = 1;
		
				step_pos = 0;
			}
		}

		Delay10KTCYx(speed);

		number_of_loops++;
	}
}