from machine import Pin
import time

# Konfigurasi pin sesuai ESP32 DevKitC v4
STEP_PIN = 27    # Pin STEP A4988
DIR_PIN = 14     # Pin DIR A4988
LED_PIN = 23      # LED bawaan ESP32 (GPIO2)
BUTTON_PIN = 16   # Tombol (bisa diganti sesuai pin yang tersedia)

# Inisialisasi pin
step_pin = Pin(STEP_PIN, Pin.OUT)
dir_pin = Pin(DIR_PIN, Pin.OUT)
led_pin = Pin(LED_PIN, Pin.OUT)
button_pin = Pin(BUTTON_PIN, Pin.IN, Pin.PULL_UP)  # Atau Pin.PULL_UP sesuai wiring tombolmu

# Parameter gerakan motor
number_of_steps = 200           # Satu putaran penuh (1.8°/step)
pulse_width_us = 20            # Durasi pulsa STEP dalam mikrodetik
millis_between_steps = 10      # Jeda antar langkah dalam milidetik

print("🚀 Memulai kontrol stepper A4988 via ESP32")

while True:
    if button_pin.value() == 0:
        # Gerakan searah jarum jam
        dir_pin.on()
        for _ in range(number_of_steps):
            step_pin.on()
            time.sleep_us(pulse_width_us)
            step_pin.off()
            time.sleep_ms(millis_between_steps)
            led_pin.value(not led_pin.value())
        
        time.sleep(1)  # Jeda antar arah

        # Gerakan berlawanan arah jarum jam
        dir_pin.off()
        for _ in range(number_of_steps):
            step_pin.on()
            time.sleep_us(pulse_width_us)
            step_pin.off()
            time.sleep_ms(millis_between_steps)
            led_pin.value(not led_pin.value())