#include "pico/stdlib.h"

// Define pins
#define DIR_PIN 2     // Direction pin connected to A4988
#define STEP_PIN 3    // Step pin connected to A4988
#define STEPS_PER_REV 200   // 1.8° stepper motor
#define HALF_TURN (STEPS_PER_REV / 2) // 180° = 100 steps

// Stepper motor function
void stepMotor(int steps, bool direction, int delay_us) {
    gpio_put(DIR_PIN, direction);  // 0 = CW, 1 = CCW
    
    for (int i = 0; i < steps; i++) {
        gpio_put(STEP_PIN, 1);
        sleep_us(delay_us);
        gpio_put(STEP_PIN, 0);
        sleep_us(delay_us);
    }
}

int main() {
    stdio_init_all();

    // Initialize pins
    gpio_init(DIR_PIN);
    gpio_set_dir(DIR_PIN, true);
    
    gpio_init(STEP_PIN);
    gpio_set_dir(STEP_PIN, true);

    while (true) {
        // Rotate 180° clockwise
        stepMotor(HALF_TURN, 0, 1000);  
        sleep_ms(3000);   // wait 3 seconds

        // Rotate 180° counter-clockwise
        stepMotor(HALF_TURN, 1, 1000);  
        sleep_ms(3000);   // wait 3 seconds
    }
}