'''
AIM:Design the schematic circuit using stepper motor and rotary
encoder with raspberry pico microcontroller in Wokwi platform.
Write code to control the steps and direction of stepper motor 
through rotary motor.
'''
from machine import Pin
import time

# Setup pins
clk = Pin(14, Pin.IN, Pin.PULL_UP)
dt = Pin(15, Pin.IN, Pin.PULL_UP)
btn = Pin(16, Pin.IN, Pin.PULL_UP)

dir_pin = Pin(2, Pin.OUT)
step_pin = Pin(3, Pin.OUT)

# Variables
position = 0
last_clk = clk.value()

print("Simple Stepper Control")
print("Rotate encoder to move")

while True:
    # Read encoder
    clk_state = clk.value()
    dt_state = dt.value()
    
    # Check if encoder rotated
    if clk_state != last_clk:
        if dt_state != clk_state:
            # Clockwise
            if position < 200:
                position += 1
                dir_pin.value(1)
        else:
            # Counter-clockwise
            if position > -200:
                position -= 1
                dir_pin.value(0)
        
        # Move stepper one step
        step_pin.on() #clockwise direction
        time.sleep(0.001)
        step_pin.off()  # anticlockwise direction
        time.sleep(0.001)
        
        print(f"Position: {position}")
    
    last_clk = clk_state
    
    # Check button
    if btn.value() == 0:
        position = 0
        print("Reset to 0")
        time.sleep(0.5)  # Debounce
    
    time.sleep(0.001)