stepper.py

import RPi.GPIO as GPIO
import time

# Motor pins (change these according to your connections)
pin_A = 17
pin_B = 27
pin_A_not = 22
pin_B_not = 23

# Setup GPIO pins
GPIO.setmode(GPIO.BCM)
GPIO.setup(pin_A, GPIO.OUT)
GPIO.setup(pin_B, GPIO.OUT)
GPIO.setup(pin_A_not, GPIO.OUT)
GPIO.setup(pin_B_not, GPIO.OUT)

# Stepper motor steps
steps = [0, 25, 0, 50, 0, 75, 0, 100]

# Full extend steps
full_extend = 100

# Sequence for the stepper motor
seq = [
    [1, 0, 0, 1],
    [1, 0, 1, 0],
    [0, 1, 1, 0],
    [0, 1, 0, 1]
]

# Motor movement function
def move_motor(steps):
    for step in range(steps):
        for sequence in seq:
            set_motor_pins(sequence)
            time.sleep(0.001)

def set_motor_pins(sequence):
    GPIO.output(pin_A, sequence[0])
    GPIO.output(pin_B, sequence[1])
    GPIO.output(pin_A_not, sequence[2])
    GPIO.output(pin_B_not, sequence[3])

# Main loop
try:
    while True:
        for step in steps:
            move_motor(step * (full_extend // 100))
            time.sleep(1)
except KeyboardInterrupt:
    print("Interrupted by user")
finally:
    GPIO.cleanup()