rotate the stepper motor attached to the raspberry pi, specifying revolutions in halfstep sequences

rotateStepper.py

import RPi.GPIO as GPIO
import time
import sys

args = sys.argv[1:]

GPIO.setmode(GPIO.BOARD)
controlPins = [7,11,13,15]

for pin in controlPins:
  GPIO.setup(pin, GPIO.OUT)
  GPIO.output(pin, 0)

halfstepSeq = [
  [1,0,0,0],
  [1,1,0,0],
  [0,1,0,0],
  [0,1,1,0],
  [0,0,1,0],
  [0,0,1,1],
  [0,0,0,1],
  [1,0,0,1]
]

reverseHalfstepSeq = [
  [1,0,0,1],
  [0,0,0,1],
  [0,0,1,1],
  [0,0,1,0],
  [0,1,1,0],
  [0,1,0,0],
  [1,1,0,0],
  [1,0,0,0]
]

def boolify(strInput):
    return strInput.lower() in ['true', '1', 't', 'y', 'yes', 'yeah', 'yup', 'certainly', 'uh-huh']

def rotate(rotations=1, counterClockwise=False):
    steps = int(512*rotations)

    sequence = reverseHalfstepSeq if counterClockwise else halfstepSeq
    for i in range(steps):
      for halfstep in range(len(sequence)):
        for pin in range(len(controlPins)):
          GPIO.output(controlPins[pin], sequence[halfstep][pin])
        time.sleep(0.001)

if __name__ == "__main__":
    rotations = float(args[0]) if len(args) > 0 else 1
    counterClockwise = boolify(args[1]) if len(args) > 1 else False
    rotate(rotations, counterClockwise)
    GPIO.cleanup()

z_readme.md

Installation

sudo apt-get install python-rpi.gpio python3-rpi.gpio

Pins

This script has the control pins hardcoded to 7,11,13 and 15. Change as needed Pin Photo Locations: https://miro.medium.com/max/6048/1*xtuwVdcX1gx9rEQiyvBRhg.jpeg