#!/usr/bin/python

#    Stepper Motor Test
# utilisation : sudo python stepper.py 20 (20 pour 20ms entre chaque pas)
#--------------------------------------
#!/usr/bin/env python

import sys
import time
import RPi.GPIO as GPIO

# Use BCM GPIO references
# instead of physical pin numbers
GPIO.setmode(GPIO.BCM)

# Define GPIO signals to use
# Physical pins 11,15,16,18
# GPIO17,GPIO22,GPIO23,GPIO24
StepPins = [17,22,23,24]

# Set all pins as output
for pin in StepPins:
  print "Setup pins"
  GPIO.setup(pin,GPIO.OUT)
  GPIO.output(pin, False)

# Define advanced sequence
# as shown in manufacturers datasheet
Seq = [[1,0,0,0],
       [1,1,0,0],
       [0,1,0,0],
       [0,1,1,0],
       [0,0,1,0],
       [0,0,1,1],
       [0,0,0,1],
       [1,0,0,1]]
       
StepCount = len(Seq)-1
StepDir = 2 # Set to 1 or 2 for clockwise
            # Set to -1 or -2 for anti-clockwise

# Read wait time from command line
if len(sys.argv)>1:
  WaitTime = int(sys.argv[1])/float(1000)
else:
  WaitTime = 10/float(1000)

# Initialise variables
StepCounter = 0

# Start main loop
while True:

  for pin in range(0, 4):
    xpin = StepPins[pin]
    print StepCounter
    print pin
    if Seq[StepCounter][pin]!=0:
      print " Step %i Enable %i" %(StepCounter,xpin)
      GPIO.output(xpin, True)
    else:
      GPIO.output(xpin, False)

  StepCounter += StepDir

  # If we reach the end of the sequence
  # start again
  if (StepCounter>=StepCount):
    StepCounter = 0
  if (StepCounter<0):
    StepCounter = StepCount

  # Wait before moving on
  time.sleep(WaitTime)