import RPi.GPIO as GPIO
import time

GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
coil_A_1_pin = 16 # pink
coil_A_2_pin = 22 # orange
coil_B_1_pin = 25 # blau
coil_B_2_pin = 27 # gelb

coil_C_1_pin = 4  # pink
coil_C_2_pin = 17 # orange
coil_D_1_pin = 23 # blau
coil_D_2_pin = 24 # gelb


# anpassen, falls andere Sequenz
StepCount = 4
Seq = range(0, StepCount)
Seq[0] = [1,0,0,0]
Seq[1] = [0,0,1,0]
Seq[2] = [0,1,0,0]
Seq[3] = [0,0,0,1]

GPIO.setup(coil_A_1_pin, GPIO.OUT)
GPIO.setup(coil_A_2_pin, GPIO.OUT)
GPIO.setup(coil_B_1_pin, GPIO.OUT)
GPIO.setup(coil_B_2_pin, GPIO.OUT)

zeita = 1
zeitb = 0.5

def setStep(w1, w2, w3, w4):
	GPIO.output(coil_A_1_pin, w1)
	GPIO.output(coil_A_2_pin, w2)
	GPIO.output(coil_B_1_pin, w3)
	GPIO.output(coil_B_2_pin, w4)


def forwardX(delay, steps):
	for i in range(steps):
		for j in range(StepCount):
			setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
			time.sleep(delay)

def backwardsX(delay, steps):
	for i in range(steps):
		for j in reversed(range(StepCount)):
			setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
			time.sleep(delay)

if __name__ == '__main__':
	for x in range(1):
		delay = 3
                steps = 55
		forwardX(int(delay) / 1000.0, int(steps))
		time.sleep(zeitb)

		steps = 55
		backwardsX(int(delay) / 1000.0, int(steps))
		time.sleep(zeita)

GPIO.setup(coil_C_1_pin, GPIO.OUT)
GPIO.setup(coil_C_2_pin, GPIO.OUT)
GPIO.setup(coil_D_1_pin, GPIO.OUT)
GPIO.setup(coil_D_2_pin, GPIO.OUT)


def setStep(w5, w6, w7, w8):
	GPIO.output(coil_C_1_pin, w5)
	GPIO.output(coil_C_2_pin, w6)
	GPIO.output(coil_D_1_pin, w7)
	GPIO.output(coil_D_2_pin, w8)


def forwardY(delay, steps):
	for i in range(steps):
		for j in range(StepCount):
			setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
			time.sleep(delay)

def backwardsY(delay, steps):
	for i in range(steps):
		for j in reversed(range(StepCount)):
			setStep(Seq[j][0], Seq[j][1], Seq[j][2], Seq[j][3])
			time.sleep(delay)


if __name__ == '__main__':
	for x in range(1):
		delay = 2
		steps = 40
	        forwardY(int(delay) / 1000.0, int(steps))
		time.sleep(zeitb)

		steps = 40
		backwardsY(int(delay) / 1000.0, int(steps))
		time.sleep(zeita)



GPIO.cleanup()