from machine import Pin
from time import sleep_us, sleep

# Define the pins connected to STEP and DIR on the A4988
STEP_PIN = 5  # Replace with your GPIO pin for STEP
DIR_PIN = 4   # Replace with your GPIO pin for DIR

# Initialize the STEP and DIR pins
step_pin = Pin(STEP_PIN, Pin.OUT)
dir_pin = Pin(DIR_PIN, Pin.OUT)

def step_cw(steps, delay=1000):
    dir_pin.value(1)  # Set direction to clockwise
    for i in range(steps):
        step_pin.toggle()
        sleep_us(delay)  
        step_pin.toggle()
        sleep_us(delay)

def step_acw(steps, delay=1000):
    dir_pin.value(0)  # Set direction to counterclockwise
    for i in range(steps):
        step_pin.value(1)
        sleep_us(delay)
        step_pin.value(0)
        sleep_us(delay)

# Example usage
print("Rotating 200 steps clockwise")
step_cw(200)  # Move 200 steps clockwise
sleep(1)  # Delay between directions

print("Rotating 200 steps counterclockwise")
step_acw(200)  # Move 200 steps counterclockwise
sleep(1)