#-----------------------------------
# Name: Stepper Motor
#
# Author: matt.hawkins
#
# Created: 11/07/2012
# Copyright: (c) matt.hawkins 2012
#-----------------------------------
#!/usr/bin/env python

# Import required libraries
import time
import RPi.GPIO as GPIO
import sys


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

# Define GPIO signals to use
# Pins 18,22,24,26
# GPIO24,GPIO25,GPIO8,GPIO7
StepPins = [17,22,23,24]
#StepPins = [17,18,21,22]

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

# Define some settings
StepCounter = 0
WaitTime = 0.004


# Define simple sequence
StepCount1 = 4
Seq1 = []
Seq1 = range(0, StepCount1)
Seq1[0] = [1,0,0,0]
Seq1[1] = [0,1,0,0]
Seq1[2] = [0,0,1,0]
Seq1[3] = [0,0,0,1]

# Define advanced sequence
# as shown in manufacturers datasheet
StepCount2 = 8
Seq2 = []
Seq2 = range(0, StepCount2)
Seq2[0] = [1,0,0,0]
Seq2[1] = [1,1,0,0]
Seq2[2] = [0,1,0,0]
Seq2[3] = [0,1,1,0]
Seq2[4] = [0,0,1,0]
Seq2[5] = [0,0,1,1]
Seq2[6] = [0,0,0,1]
Seq2[7] = [1,0,0,1]

# Choose a sequence to use
Seq = Seq1
StepCount = StepCount1


delete_TO = 0.0083

time_start = time.time()
seconds = 0

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

 StepCounter += 1

 # 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)

 seconds = int(time.time() - time_start)
 print seconds
 if seconds > 10:
    break