from machine import Pin 
import time 
Pir_sensor = Pin(14 , Pin.IN)
step = Pin(17 , Pin.OUT , value = 0)
Dir = Pin(16 , Pin.OUT , value = 0) #sens de rotation
ms1 = Pin(19 , Pin.OUT , value = 0)
ms2 = Pin(18 , Pin.OUT , value = 0)
ms3 = Pin(5 , Pin.OUT , value = 0)
ena = Pin(4 , Pin.OUT , value = 0)
def rotate(DIR , steps , speed , mode , t):
    if mode == 1 :# full step
        ena.off()
        ms1.off()
        ms2.off()
        ms3.off()
    elif mode == 2 : #half step :
        ena.off()
        ms1.on()
        ms2.off()
        ms3.off()
    elif mode == 3 : # step / 4 
        ena.off()
        ms1.off()
        ms2.on()
        ms3.off()
    elif mode == 4:# step / 8
        ena.off()
        ms1.on()
        ms2.on()
        ms3.off()
    elif mode == 5 :# step / 16 
        ena.off()
        ms1.on()
        ms2.on()
        ms3.on()
    else :
        ena.on()
        print('thabet mli7 fil mode ')
    Dir.value(DIR)# sens 1 or 0 
    for i in range(1 , steps+1):
        step.on()
        time.sleep_ms(50 - speed)
        step.off()
        time.sleep_ms(50 - speed)
    time.sleep(t)
while 1 : 
    reading = Pir_sensor.value()
    if reading == 1 :
        rotate(1 , 200 , 20 , 1 , 4)
        rotate(0 , 200 , 50 , 1 , 4)
    else :
        rotate(0 , 0 , 0 , 7 , 0)#stop