Millis() function to run twostepper at the same time Arduino mega p6

[@houssammahmoud2127]

// Define the connection pins for Motor 1:
#define stepPin1 12 //pulse
#define dirPin1 11 //dir
#define enaPin1 10 //ena
// Define the connection pins for Motor 2:
#define stepPin2 9 //pulse
#define dirPin2 8 //dir
#define enaPin2 7 //ena
// Variables to track the timing of steps
unsigned long previousMillisMotor1 = 0;
unsigned long previousMillisMotor2 = 0;
const long intervalMotor1 = 100; // Interval at which to step motor 1 (speed)(microseconds)
const long intervalMotor2 = 50; // Interval at which to step motor 2 (speed)(microseconds)
//-------
void setup() {
// put your setup code here, to run once:
pinMode(stepPin1,OUTPUT);//Pul
pinMode(dirPin1,OUTPUT);//Dir
pinMode(enaPin1,OUTPUT);
pinMode(stepPin2,OUTPUT);//Pul
pinMode(dirPin2,OUTPUT);//Dir
pinMode(enaPin2,OUTPUT);
}
//-------
void loop() {
unsigned long currentMillis = millis();
// Motor 1
if (currentMillis - previousMillisMotor1 >= intervalMotor1) {
previousMillisMotor1 = currentMillis;
runMotor1(100);
}
// Motor 2
if (currentMillis - previousMillisMotor2 >= intervalMotor2) {
previousMillisMotor2 = currentMillis;
runMotor2(100);
}


}
//-------
// Function to step Motor 1
void runMotor1(int stepsPerRevolution) {
static int stepCount = 0;
if (stepCount < stepsPerRevolution) {
digitalWrite(stepPin1, HIGH);
delayMicroseconds(50); // Short pulse to trigger the step
digitalWrite(stepPin1, LOW);
stepCount++;
}
}
// Function to step Motor 2
void runMotor2(int stepsPerRevolution ) {
static int stepCount = 0;
if (stepCount < stepsPerRevolution) {
digitalWrite(stepPin2, HIGH);
delayMicroseconds(50); // Short pulse to trigger the step
digitalWrite(stepPin2, LOW);
stepCount++;
}
}