from machine import Pin
import time

# Define the GPIO pins for the stepper motor control
STEP_PIN_1 = 15  # A-
STEP_PIN_2 = 2   # A+
STEP_PIN_3 = 0   # B+
STEP_PIN_4 = 4   # B-

# Define step sequence for the stepper motor
step_sequence = [
    [1, 0, 0, 1],  # A-, B-
    [1, 1, 0, 0],  # A-, B+
    [0, 1, 0, 0],  # A+, B+
    [0, 1, 1, 1]   # A+, B-
]

# Create Pin objects for stepper control
pins = [Pin(pin, Pin.OUT) for pin in (STEP_PIN_1, STEP_PIN_2, STEP_PIN_3, STEP_PIN_4)]

def step_motor(steps, delay_ms=10):
    num_steps = abs(steps)
    direction = 1 if steps > 0 else -1
    for _ in range(num_steps):
        for step in step_sequence[::direction]:  # Reverse sequence if moving backwards
            for pin, state in zip(pins, step):
                pin.value(state)
            time.sleep_ms(delay_ms)

def main():
    while True:
        try:
            steps = int(input("Enter number of steps (positive or negative): "))
            step_motor(steps)
        except ValueError:
            print("Invalid input. Please enter an integer.")

if __name__ == "__main__":
    main()