import RPi.GPIO as GPIO
import time

# Define GPIO pins
IN1 = 17
IN2 = 18
IN3 = 22
IN4 = 23

# Set GPIO mode
GPIO.setmode(GPIO.BCM)

# Set up GPIO pins
GPIO.setup(IN1, GPIO.OUT)
GPIO.setup(IN2, GPIO.OUT)
GPIO.setup(IN3, GPIO.OUT)
GPIO.setup(IN4, GPIO.OUT)
import RPi.GPIO as GPIO
import time

# Define GPIO pins
IN1 = 17
IN2 = 18
IN3 = 22
IN4 = 23

# Set GPIO mode
GPIO.setmode(GPIO.BCM)

# Set up GPIO pins
GPIO.setup(IN1, GPIO.OUT)
GPIO.setup(IN2, GPIO.OUT)
GPIO.setup(IN3, GPIO.OUT)
GPIO.setup(IN4, GPIO.OUT)

def set_step(w1, w2, w3, w4):
    GPIO.output(IN1, w1)
    GPIO.output(IN2, w2)
    GPIO.output(IN3, w3)
    GPIO.output(IN4, w4)

# Example sequence for full step
seq = [
    [1, 0, 1, 0],
    [0, 1, 0, 1]\
    #,
    #[0, 0, 1, 1],
    #[1, 0, 0, 1]
]

import RPi.GPIO as GPIO
import time

# Define GPIO pins
IN1 = 17
IN2 = 18
IN3 = 22
IN4 = 23

# Set GPIO mode
GPIO.setmode(GPIO.BCM)

# Set up GPIO pins
GPIO.setup(IN1, GPIO.OUT)
GPIO.setup(IN2, GPIO.OUT)
GPIO.setup(IN3, GPIO.OUT)
GPIO.setup(IN4, GPIO.OUT)
import RPi.GPIO as GPIO
import time

# Define GPIO pins
IN1 = 17
IN2 = 18
IN3 = 22
IN4 = 23

# Set GPIO mode
GPIO.setmode(GPIO.BCM)

# Set up GPIO pins
GPIO.setup(IN1, GPIO.OUT)
GPIO.setup(IN2, GPIO.OUT)
GPIO.setup(IN3, GPIO.OUT)
GPIO.setup(IN4, GPIO.OUT)

def set_step(w1, w2, w3, w4):
    GPIO.output(IN1, w1)
    GPIO.output(IN2, w2)
    GPIO.output(IN3, w3)
    GPIO.output(IN4, w4)

# Example sequence for full step
seq = [
    [1, 0, 1, 0],
    [0, 1, 1, 0],
    [0, 1, 0, 1],
    [1, 0, 0, 1]
]

# Rotate stepper motor clockwise
def clockwise(delay, steps):
    for _ in range(steps):
        for halfstep in range(4):
            set_step(seq[halfstep][0], seq[halfstep][1], seq[halfstep][2], seq[halfstep][3])
            time.sleep(delay)

# Rotate stepper motor counterclockwise
def counterclockwise(delay, steps):
    for _ in range(steps):
        for halfstep in range(4):
            set_step(seq[3 - halfstep][0], seq[3 - halfstep][1], seq[3 - halfstep][2], seq[3 - halfstep][3])
            time.sleep(delay)

# Example usage
try:
    while True:
        print('clockwise')
        clockwise(0.5, 10)  # Rotate clockwise 200 steps with 0.01s delay between steps
        time.sleep(0.5)
        print('counter clockwise')
        counterclockwise(0.5, 10)  # Rotate counterclockwise 200 steps with 0.01s delay between steps
        time.sleep(0.5)
        time.sleep(5)

except KeyboardInterrupt:
    print("Program stopped by user")

finally:
    GPIO.cleanup()  # Clean up GPIO on exit


# Example usage
try:
    while True:
        print('clockwise')
        clockwise(0.1, 100)  # Rotate clockwise 200 steps with 0.01s delay between steps
        time.sleep(0.5)
#        print('counter clockwise')
#        counterclockwise(0.1, 100)  # Rotate counterclockwise 200 steps with 0.01s delay between steps
#        time.sleep(0.5)
#        time.sleep(5)

except KeyboardInterrupt:
    print("Program stopped by user")

finally:
    GPIO.cleanup()  # Clean up GPIO on exit