#!/usr/bin/env python
#########################################################################
#Author:Paul Binder Jr
########################################################################

import smbus
import time
import RPi.GPIO as GPIO

rev = GPIO.RPI_REVISION
if rev == 2 or rev == 3:
    bus = smbus.SMBus(1)
else:
    bus = smbus.SMBus(0)



MOTOR_SPEED_SET = 0x82
PWM_FREQUENCE_SET = 0x84
DIRECTION_SET = 0xaa
MOTOR_SET_A = 0xa1
MOTOR_SET_B = 0xa5
NOTHING = 0x01
ENABLE_STEPPER = 0x1a
UNENABLE_STEPPER = 0x1b
STEPERNU = 0x1c
I2C_MOTOR_DRIVER_ADD = 0x0f #Set the address of the I2CMotorDriver

##set the steps you want, if 255, the stepper will rotate continuely;
def SteperStepset(stepnu):
    bus.write_i2c_block_data(I2C_MOTOR_DRIVER_ADD,STEPERNU,[stepnu,NOTHING])

## Enanble the i2c motor driver to drive a 4-wire stepper. the i2c motor driver will
##driver a 4-wire with 8 polarity  .
##Direction: stepper direction ; 1/0
##motor speed: defines the time interval the i2C motor driver change it output to drive the stepper
##the actul interval time is : motorspeed * 4ms. that is , when motor speed is 10, the interval time
##would be 40 ms

def StepperMotorEnable(Direction,motorspeed):
    bus.write_i2c_block_data(I2C_MOTOR_DRIVER_ADD,ENABLE_STEPPER,[Direction,motorspeed])

##function to uneanble i2C motor drive to drive the stepper.
def StepperMotorUnenable():
    bus.write_i2c_block_data(I2C_MOTOR_DRIVER_ADD,UNENABLE_STEPPER,[NOTHING,NOTHING])

##Re-maps a number from one range to another. That is, a value of fromLow would get mapped to toLow,
##a value of fromHigh to toHigh, values in-between to values in-between, etc.
##see http://www.arduino.cc/en/Reference/Map
def Map(x, in_min, in_max, out_min, out_max):
    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min


##Function to set the 2 DC motor speed
##motorSpeedA : the DC motor A speed; should be 0~100;
##motorSpeedB: the DC motor B speed; should be 0~100;

def MotorSpeedSetAB(MotorSpeedA , MotorSpeedB):
    MotorSpeedA=Map(MotorSpeedA,0,100,0,255)
    MotorSpeedB=Map(MotorSpeedB,0,100,0,255)
    bus.write_i2c_block_data(I2C_MOTOR_DRIVER_ADD,MOTOR_SPEED_SET,[MotorSpeedA,MotorSpeedB])

##set the prescale frequency of PWM, 0x03 default;
def MotorPWMFrequenceSet(Frequence):
    bus.write_i2c_block_data(I2C_MOTOR_DRIVER_ADD,PWM_FREQUENCE_SET,[Frequence,NOTHING])

##set the direction of DC motor.
## Adjust the direction of the motors 0b0000 I4 I3 I2 I1
def MotorDirectionSet(Direction):
    bus.write_i2c_block_data(I2C_MOTOR_DRIVER_ADD,DIRECTION_SET,[Direction,NOTHING])

##you can adjust the driection and speed together
def MotorDriectionAndSpeedSet(Direction,MotorSpeedA,MotorSpeedB) :
    MotorDirectionSet(Direction)
    MotorSpeedSetAB(MotorSpeedA,MotorSpeedB)