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# Author: peppe8o
# Date: Dec 27th, 2021
# Version: 1.0
# https://peppe8o.com

from machine import Pin
from time import sleep

# define variables
motor_GP = [0,1,2,3] # RPI Pico ports, ordered according to IN1, IN2, IN3 and IN4 of ULN2003
seq_pointer=[0,1,2,3,4,5,6,7] # Pointer to keep current sequence position
stepper_obj = [] # array including the 4 Pins connected yo 

# sequence map
arrSeq = [[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],\
          [1,0,0,1]]


# Set all pins as output
print("Setup pins...")
for gp in motor_GP: stepper_obj.append(Pin(gp, Pin.OUT))

def stepper_move(direction): # direction must be +1 or -1
    global seq_pointer
    seq_pointer=seq_pointer[direction:]+seq_pointer[:direction]
    for a in range(4): stepper_obj[a].value(arrSeq[seq_pointer[0]][a])
    sleep(0.001)

while True:
    stepper_move(1)