from machine import Pin
from utime import ticks_us,sleep_us,sleep

class Steppper_Motor:
    def __init_(self,dir_pin,step_pin):
        self.dire=Pin(dir_pin,Pin.OUT)
        self.step=Pin(step_pin,Pin.OUT)
        self.trig=Pin(trig_pin,Pin.OUT)
        self.echo=Pin(echo_pin,Pin.IN)
    def start_stepper(self,direction,step,delay):
        self.dire.value(direction)
        steps=abs(step)
        for i in range (steps):
            self.Step.value(1)
            sleep_us(delay)
            self.Step.value(0)
            sleep_us(delay)

def distance(self):
  self.trig.value(0)
  sleep_us(2)
  self.trig.value(1)
  sleep_us(5)
  self.trig.value(0)
  while self.echo.value()==0:
    signaloff=ticks_us()
  while self.echo.value()==1:
    signalon=ticks_us()
  time=signalon-signaloff
  dist=(time*0.03405)/2
  print(dist)


while True:
    stepper=Steppper_Motor(dir_pin=5,step_pin=18,trig_pin=33,echo_pin=25)
    stepper.distance()
    if(stepper.distance()<=200):
        stepper.start_stepper(1,200,1000)
        sleep(10)
        stepper.start_stepper(0,200,1000)
        sleep(10)
    sleep(0.01)