import RPi.GPIO as GPIO import time GPIO.setmode(GPIO.BCM) shutter_pin = 18 coil_A_1_pin = 4 coil_A_2_pin = 17 coil_B_1_pin = 23 coil_B_2_pin = 24

GPIO.setup(shutter_pin, GPIO.OUT) GPIO.setup(coil_A_1_pin, GPIO.OUT) GPIO.setup(coil_A_2_pin, GPIO.OUT) GPIO.setup(coil_B_1_pin, GPIO.OUT) GPIO.setup(coil_B_2_pin, GPIO.OUT)

def backwards(delay, steps, rounds): while rounds > 0: for i in range(0, steps): setStep(1, 0, 0, 1) time.sleep(delay) setStep(0, 1, 0, 1) time.sleep(delay) setStep(0, 1, 1, 0) time.sleep(delay) setStep(1, 0, 1, 0) time.sleep(delay) rounds = rounds - 1

def forwards(delay, steps, rounds): while rounds > 0: for i in range(0, steps): setStep(1, 0, 1, 0) time.sleep(delay) setStep(0, 1, 1, 0) time.sleep(delay) setStep(0, 1, 0, 1) time.sleep(delay) setStep(1, 0, 0, 1) time.sleep(delay) rounds = rounds - 1

def setStep(w1, w2, w3, w4): GPIO.output(coil_A_1_pin, w1) GPIO.output(coil_A_2_pin, w2) GPIO.output(coil_B_1_pin, w3) GPIO.output(coil_B_2_pin, w4)

while True: delay = 10 steps = 10 rounds = 650 backwards(int(delay) / 1000.0, int(steps), int(rounds)) time.sleep(3) forwards(int(delay) / 1000.0, int(steps), int(rounds)) time.sleep(3)