from machine import Pin, ADC
import time

# Define the GPIO pins for STEP, DIR, and the analog pin for the potentiometer
STEP_PIN = Pin(14, Pin.OUT)  # GPIO pin for STEP
DIR_PIN = Pin(12, Pin.OUT)   # GPIO pin for DIR
POT_PIN = ADC(Pin(26))       # Analog pin for potentiometer (e.g., GPIO 26 on ESP32)

# Define the number of steps per revolution for your motor
STEPS_PER_REV = 200

# Define the step delay (in seconds)
STEP_DELAY = 0.001

current_position = 0

def step_motor_forward():
    STEP_PIN.value(1)
    time.sleep(STEP_DELAY)
    STEP_PIN.value(0)
    time.sleep(STEP_DELAY)

def step_motor_back():
    STEP_PIN.value(1)
    time.sleep(STEP_DELAY)
    STEP_PIN.value(0)
    time.sleep(STEP_DELAY)

def map_value(value, in_min, in_max, out_min, out_max):
    return int((value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min)

def rotate_to_angle_from_pot(pot_value):
    angle = map_value(pot_value, 0, 65535, 0, 360)  # Map 0-65535 (12-bit ADC) to 0-180 degrees
    print("Rotating to:", angle, "degrees")
    steps = int((angle / 360) * STEPS_PER_REV)
    return steps

while True:
    pot_value = POT_PIN.read_u16()  # Read the potentiometer value
    desired_position = rotate_to_angle_from_pot(pot_value)
    
    # Move the motor to the desired position
    if desired_position > current_position:
        DIR_PIN.value(1)  # Set direction forward
        while current_position < desired_position:
            step_motor_forward()
            current_position += 1
    elif desired_position < current_position:
        DIR_PIN.value(0)  # Set direction backward
        while current_position > desired_position:
            step_motor_back()
            current_position -= 1

    time.sleep(0.1)  # Small delay to avoid excessive polling