from machine import Pin
import time

phasecw  = [0x08,0x04,0x02,0x01]
phaseccw = [0x01,0x02,0x04,0x08]
out=0x01

class mystepmotor(object):
    def __init__(self, A: int=14, B: int=13, C: int=12, D: int=11):
        self._A = Pin(A,Pin.OUT,0)
        self._B = Pin(B,Pin.OUT,0)
        self._C = Pin(C,Pin.OUT,0)
        self._D = Pin(D,Pin.OUT,0)
        
    def _motorcontrol(self,data):
        if data == 0x08:
            self._A.on()
            self._B.off()
            self._C.off()
            self._D.off() 
        if data == 0x04:
            self._A.off()
            self._B.on()
            self._C.off()
            self._D.off()       
        if data == 0x02:
            self._A.off()
            self._B.off()
            self._C.on()
            self._D.off()     
        if data == 0x01:
            self._A.off()
            self._B.off()
            self._C.off()
            self._D.on()   
        if data == 0x00:
            self._A.off()
            self._B.off()
            self._C.off()
            self._D.off()
            
    def moveOneStep(self,direction):
        global out
        if direction == 1:
            if out!=0x08:
                out=out<<1
            else:
                out=0x01
        else:
            if direction == 0:
                if out!=0x01:
                    out=out>>1
                else:
                    out=0x08
        self._motorcontrol(out)
        
    def moveSteps(self,direction,steps,us):
        for i in range(steps):
            self.moveOneStep(direction)
            time.sleep_us(us)

    def moveAround(self,direction,turns,us):
        for i in range(turns):
            self.moveSteps(direction,32*64,us)
    
    def moveAngle(self,angles,us):
        self.moveSteps(direction,32*64//angles,us)
        
    def stop(self):
        self._motorcontrol(0x00)