stepper-left.py

import RPi.GPIO as GPIO
import time
import sys, getopt

GPIO.setmode(GPIO.BCM)

enable_pin = 18
coil_A_1_pin = 4
coil_A_2_pin = 17
coil_B_1_pin = 23
coil_B_2_pin = 24

GPIO.setup(enable_pin, GPIO.OUT)
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)

GPIO.output(enable_pin, 1)

def forward(delay, steps):
	for i in range(0, steps):
		setStep(1, 0, 1, 0)
		time.sleep(delay)
		setStep(0, 1, 1, 0)
		time.sleep(delay)
		setStep(0, 1, 0, 1)
		time.sleep(delay)
		setStep(1, 0, 0, 1)
		time.sleep(delay)

def backwards(delay, steps):
	for i in range(0, steps):
		setStep(1, 0, 0, 1)
		time.sleep(delay)
		setStep(0, 1, 0, 1)
		time.sleep(delay)
		setStep(0, 1, 1, 0)
		time.sleep(delay)
		setStep(1, 0, 1, 0)
		time.sleep(delay)

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)

#while True:
#	delay = raw_input("Delay between steps (milliseconds)?")
#	steps = raw_input("How many steps forward?")
#	forward(int(delay) / 1000.0, int(steps))
#	steps = raw_input("How many steps backwards?")
#	backwards(int(delay) / 1000.0, int(steps))

def usage():
	print 'spin l <speed>'
	print 'spin r <speed>'

delay = 2
steps = 748

backwards(int(delay) / 1000.0, int(steps))