import RPi.GPIO as GPIO
from time import sleep
import logging
from logging import debug
logging.basicConfig(level=logging.DEBUG)


GPIO.setmode(GPIO.BCM)

PINS = {
    'direction': [17, 0], # 1 = ckw, 0 = ccw
    'step':      [27, 0],
    'state':     [22, 1]  # 1 = disabled, 0 = enabled
}
# speed limit 0.0005 s = 500us (could be 1us) waiting between high and low
# je hoeher die motor spannugn, desto lauter

# initialize
for name, pin in PINS.items():
    GPIO.setup(pin[0], GPIO.OUT, initial=pin[1])

def disable():
    debug('Disabled')
    GPIO.output(PINS['state'][0], 1)


def enable():
    debug('Enabled')
    GPIO.output(PINS['state'][0], 0)


def change_direction():
    debug('changing direction')
    GPIO.output(PINS['direction'][0], not GPIO.input(PINS['direction'][0]))


def change_state():
    debug('changing state')
    GPIO.output(PINS['state'][0], not GPIO.input(PINS['state'][0]))


def step(steps=1, direction=None):
    if direction:
        GPIO.output(PINS['direction'][0], direction)
    for step in range(steps):
        GPIO.output(PINS['step'][0], 1)
        sleep(0.005)
        GPIO.output(PINS['step'][0], 0)
        sleep(0.005)

if __name__ == '__main__':
    try:
        while True:
#             disable()
#             debug('stepping ccw')
#             step(200, 0)
# 
#             enable()
#             debug('stepping cw')
#             step(200, 1)
            step(100)
            change_direction()
            change_state()
    except KeyboardInterrupt:
        debug('cleaning up')
        disable()
        GPIO.cleanup()