import time
from machine import Pin, ADC

dir_pin = Pin(12, Pin.OUT)
step_pin = Pin(14, Pin.OUT)
potentio = ADC(Pin(4))
RAZ = Pin(23, Pin.IN, Pin.PULL_UP)

def move_stepper(direct,steps, delay): #, accel):
	dir_pin.value(direct)
	steps = abs(steps)
	for i in range(steps):
		step_pin.value(1)
		time.sleep_us(delay)
		step_pin.value(0)
		time.sleep_us(delay)
	

def stop_stepper():
	step_pin.value(0)

deplacement = 0
position = 0 #potentio.read()
parcouru = 0

while True:
	if potentio.read() != position:
		ecart = potentio.read() - position
		
		if ecart > 0:
			direct = 1
			deplacement = int(200*(ecart/4096))
			parcouru += deplacement
		else:
			direct = 0
			deplacement = int(200*(-1*ecart/4096))
			parcouru -= deplacement
		move_stepper(direct,deplacement,1000)
		
	elif RAZ.value() == 0: # ne sert à rien puisque 
		print(RAZ.value())
		move_stepper(not direct,-1*parcouru,1000) #,5)
		deplacement = 0
		position = 0 
		parcouru = 0
	position = potentio.read()
	print(potentio.read())
	time.sleep(2)