from gpiozero import OutputDevice
from time import sleep

class Motors:
    def __init__(self):
        self.DELAY = 0.001

        pin1 = OutputDevice(6)
        pin2 = OutputDevice(13)
        pin3 = OutputDevice(19)
        pin4 = OutputDevice(26)
        pin5 = OutputDevice(12)
        pin6 = OutputDevice(16)
        pin7 = OutputDevice(20)
        pin8 = OutputDevice(21)

        self.stepPins1 = [pin1, pin2, pin3, pin4]
        self.stepPins2 = [pin5, pin6, pin7, pin8]

        self.seq = [[1, 0, 0, 1],
                    [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]]

    def moveStep1(self, degrees):
        if degrees >= 0:
            for i in range(int(degrees * (13 / 9))):
                for sequence in self.seq:
                    for pin in range(len(self.stepPins1)):
                        if sequence[pin] == 1:
                            self.stepPins1[pin].on()
                        else:
                            self.stepPins1[pin].off()
                    sleep(self.DELAY)
        else:
            for i in range(int(abs(degrees) * (13 / 9))):
                for sequence in reversed(self.seq):
                    for pin in range(len(self.stepPins1)):
                        if sequence[pin] == 1:
                            self.stepPins1[pin].on()
                        else:
                            self.stepPins1[pin].off()
                    sleep(self.DELAY)

    def moveStep2(self, degrees):
        if degrees >= 0:
            for i in range(int(degrees * (13 / 9))):
                for sequence in self.seq:
                    for pin in range(len(self.stepPins2)):
                        if sequence[pin] == 1:
                            self.stepPins2[pin].on()
                        else:
                            self.stepPins2[pin].off()
                    sleep(self.DELAY)
        else:
            for i in range(int(abs(degrees) * (13 / 9))):
                for sequence in reversed(self.seq):
                    for pin in range(len(self.stepPins2)):
                        if sequence[pin] == 1:
                            self.stepPins2[pin].on()
                        else:
                            self.stepPins2[pin].off()
                    sleep(self.DELAY)

if __name__ == '__main__':
    motor = Motors()
    motor.moveStep1(360)
    motor.moveStep1(-360)
    motor.moveStep2(360)
    motor.moveStep2(-360)