import time
import machine
from machine import ADC, Pin
from time import sleep

#Définition des broches
dir_pin = machine.Pin(2,machine.Pin.OUT)
step_pin = machine.Pin(0,machine.Pin.OUT)
ms_2 = machine.Pin(5,machine.Pin.OUT)
potar = ADC (Pin(34))
bouto = Pin(25,Pin.IN, Pin.PULL_UP)

while True:
	if bouto.value() == 0:
		#Convertion potar => stepMotor
		avance = 0 # Nombre de pas à faire.
		direction_init = 0 # Valeur initiale du potentiomètre.
		#for i in range(3):
			#direction_value = potar.read() # Valeur actuelle du potentiomètre.
			#print(potar.read())
			#difference = direction_value - direction_init # Différence entre les deux valeurs du potentiomètre.
			#if  difference > 0:
				#avance = int(difference*800/4095)
			#1 potar = 5 pas
				#sens = 1 # Sens horaire.
			#elif difference < 0:
				#avance = int((difference*800/4095)*(-1))
				#sens = 0 # Sens anti-horaire.
			#else:
				#avance = 0
				#sens = 1

		for i in range(3):
			valeur = int(input("Rentrer un  nombre."))
			if valeur < 0:
				avance = valeur*(-1)
				sens = 0
			else:
				avance = valeur
				sens = 1


			def move_stepper(direct,steps, delay, ms2_valeur, accel):
				dir_pin.value(direct)
			#ms_2.value(1)
				ms_2.value(ms2_valeur)
			#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)

			move_stepper(sens,avance,2000,1,5)
			time.sleep(5)
			#direction_init = direction_value
			#print(potar.read())
			i=i+1
			sleep(2)

		def move_stepper(direct,steps, delay, ms2_valeur, accel):
			dir_pin.value(direct)
			#ms_2.value(1)
			ms_2.value(ms2_valeur)
			#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)

		move_stepper(0,100,2000,1,5)
		time.sleep(2)
		#Inversion du mouvement
		move_stepper(1,200,2000,1,5)
		time.sleep(2)
		move_stepper(0,100,2000,1,5)
		time.sleep(2)