Some micropython code for an elevator

elevator.py

from machine import PWM, Pin
from utime import sleep, sleep_us, ticks_ms

class StepperMotor:
    def __init__(self, ins):
        self.ins = [Pin(ins[0], Pin.OUT), Pin(ins[1], Pin.OUT), Pin(ins[2], Pin.OUT), Pin(ins[3], Pin.OUT)]

    def step(self, direction):
        r = [3, 2, 1, 0] if (not direction) else [0, 1, 2, 3]
        for i in r:
            for j in range(4):
                self.ins[j].value(0)
            self.ins[i].value(1)
            sleep_us(2500)
            
            
class PosSen:
    def __init__(self, p):
        self.s = Pin(p, Pin.IN, Pin.PULL_UP)
    
    def get(self):
        return self.s.value() ^ 1 

class Button:
    def __init__(self, p):
        self.p = Pin(p, Pin.IN, Pin.PULL_UP)
    
    def pushed(self):
        return self.p.value() == 0

ps1s = [PosSen(8),PosSen(7)]
sm = StepperMotor([0, 1, 4, 3])
floors = [Button(11), Button(12), Button(14), Button(13)]
floorheight = 26.5/len(floors)
circum = 6.283185307*2.26
steps360 = 8188
people = [False, False, False, False]
direction = 1

while ps1s[0].get()==0:
    sm.step(True)
floorNum = len(floors)
inp = input("Mode: ")
if inp == "1":
    while True:
        pushed = None
        for i in range(len(floors)+1):
                if i == len(floors):
                    break
                if floors[i].pushed():
                    print(i+1)
                    pushed = i
                    break
        if pushed != None:
            people[pushed] = True
        if any(people):
            goto = direction + floorNum
            if goto > len(floors):
                goto = len(floors)-1
                direction = -1
            if goto < 1:
                goto = 2
                direction = 1
            if goto == 1:
                while ps1s[1].get()==0:
                    pushed = None
                    for i in range(len(floors)+1):
                            if i == len(floors):
                                break
                            if floors[i].pushed():
                                print(i+1)
                                pushed = i+1
                                break
                    if pushed != None:
                        people[pushed-1] = True
                    sm.step(False)
                floorNum = 1
            elif goto == len(floors):
                while ps1s[0].get()==0:
                    pushed = None
                    for i in range(len(floors)+1):
                            if i == len(floors):
                                break
                            if floors[i].pushed():
                                print(i+1)
                                pushed = i+1
                                break
                    if pushed != None:
                        people[pushed-1] = True
                    sm.step(True)
                floorNum = goto
            else:
                print(floorNum, goto)
                steps = steps360/circum*(floorNum-goto)
                for i in range(abs(steps)):
                    p = None
                    for i in range(len(floors)+1):
                            if i == len(floors):
                                break
                            if floors[i].pushed():
                                print(i+1)
                                p = i+1
                                break
                    if p != None:
                        people[p-1] = True
                    if steps < 0:
                        sm.step(True)
                    else:
                        sm.step(False)
                        
                print(people, goto,floorNum)
                
                
                floorNum = goto
            if people[goto-1]==True:
                sleep(1)
            people[goto-1] = False
            print(people, goto,floorNum)
if inp == "2":
    while True:
        pushed = None
        for i in range(len(floors)+1):
                if i == len(floors):
                    break
                if floors[i].pushed():
                    print(i+1)
                    pushed = i+1
                    break
        if pushed!=None:
            if pushed == 1:
                while ps1s[1].get()==0:
                    sm.step(False)
                floorNum = 1
            elif pushed == len(floors):
                while ps1s[0].get()==0:
                    sm.step(True)
                floorNum = pushed
            else:
                print(floorNum, pushed)
                steps = steps360/circum*(floorNum-pushed)
                for i in range(abs(steps)):
                    if steps < 0:
                        sm.step(True)
                    else:
                        sm.step(False)
                
                floorNum = pushed