from machine import Pin
from time import sleep


step_pin = Pin(15, Pin.OUT)  # Connect to STEP pin on A4988
dir_pin = Pin(2, Pin.OUT)    # Connect to DIR pin on A4988
enable_pin = Pin(4, Pin.OUT)  # Optional: Connect to ENABLE pin

enable_pin.value(0)  # Set ENABLE to LOW (active)

# Function to rotate the motor
def rotate_motor(steps, direction, delay=0.01):
    dir_pin.value(direction)  # Set rotation direction
    for _ in range(steps):
        step_pin.value(0)  # Pulse the STEP pin
        sleep(delay)
        step_pin.value(1)
        sleep(delay)

# Main program
while True:
    print("Rotating clockwise")
    rotate_motor(steps=20, direction=0, delay=0.01)  # Rotate 200 steps CW
    sleep(1)
    print("Rotating counterclockwise")
    rotate_motor(steps=20, direction=1, delay=0.001)  # Rotate 200 steps CCW
    sleep(1)
    
enable_pin.value(1)  # Disable the motor