import serial
import RPi.GPIO as GPIO
import time

# Setup GPIO pins
MOTOR_PINS = {
    1: {'step': 3, 'dir': 2},
    2: {'step': 5, 'dir': 4},
    3: {'step': 7, 'dir': 6},
    4: {'step': 5, 'dir': 6}
}

GPIO.setmode(GPIO.BCM)
for motor in MOTOR_PINS.values():
    GPIO.setup(motor['step'], GPIO.OUT)
    GPIO.setup(motor['dir'], GPIO.OUT)

# Open serial connection to Nextion
ser = serial.Serial('/dev/ttyS0', 9600, timeout=1)

def set_motor(motor_id, speed, direction):
    pins = MOTOR_PINS[motor_id]
    GPIO.output(pins['dir'], GPIO.HIGH if direction else GPIO.LOW)
    delay = 1.0 / (speed * 100)  # Adjust scaling
    for _ in range(200):  # Number of steps
        GPIO.output(pins['step'], GPIO.HIGH)
        time.sleep(delay / 2)
        GPIO.output(pins['step'], GPIO.LOW)
        time.sleep(delay / 2)

# Main loop
while True:
    if ser.in_waiting:
        data = ser.readline().decode().strip()
        print("Received:", data)
        # Parse speed and direction values from Nextion
        # (Use regex or split based on your message format)