import RPi.GPIO as GPIO
import sys, time
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

def full_step(phase,pins):
    pin1, pin2, pin3, pin4 = pins

    if phase==0:
        GPIO.output(pin1, 0)
        GPIO.output(pin2, 0)
        GPIO.output(pin3, 0)
        GPIO.output(pin4, 0)

    if phase==1:
        GPIO.output(pin1, 1)
        GPIO.output(pin2, 1)
        GPIO.output(pin3, 0)
        GPIO.output(pin4, 0)

    if phase==2:
        GPIO.output(pin1, 0)
        GPIO.output(pin2, 1)
        GPIO.output(pin3, 1)
        GPIO.output(pin4, 0)

    if phase==3:
        GPIO.output(pin1, 0)
        GPIO.output(pin2, 0)
        GPIO.output(pin3, 1)
        GPIO.output(pin4, 1)

    if phase==4:
        GPIO.output(pin1, 1)
        GPIO.output(pin2, 0)
        GPIO.output(pin3, 0)
        GPIO.output(pin4, 1)

def half_step(phase,pins):
    pin1, pin2, pin3, pin4 = pins

    if phase==0:
        GPIO.output(pin1, 0)
        GPIO.output(pin2, 0)
        GPIO.output(pin3, 0)
        GPIO.output(pin4, 0)

    if phase==1:
        GPIO.output(pin1, 1)
        GPIO.output(pin2, 0)
        GPIO.output(pin3, 0)
        GPIO.output(pin4, 0)

    if phase==2:
        GPIO.output(pin1, 1)
        GPIO.output(pin2, 1)
        GPIO.output(pin3, 0)
        GPIO.output(pin4, 0)

    if phase==3:
        GPIO.output(pin1, 0)
        GPIO.output(pin2, 1)
        GPIO.output(pin3, 0)
        GPIO.output(pin4, 0)

    if phase==4:
        GPIO.output(pin1, 0)
        GPIO.output(pin2, 1)
        GPIO.output(pin3, 1)
        GPIO.output(pin4, 0)

    if phase==5:
        GPIO.output(pin1, 0)
        GPIO.output(pin2, 0)
        GPIO.output(pin3, 1)
        GPIO.output(pin4, 0)

    if phase==6:
        GPIO.output(pin1, 0)
        GPIO.output(pin2, 0)
        GPIO.output(pin3, 1)
        GPIO.output(pin4, 1)

    if phase==7:
        GPIO.output(pin1, 0)
        GPIO.output(pin2, 0)
        GPIO.output(pin3, 0)
        GPIO.output(pin4, 1)

    if phase==8:
        GPIO.output(pin1, 1)
        GPIO.output(pin2, 0)
        GPIO.output(pin3, 0)
        GPIO.output(pin4, 1)

def full_phase(pins):
    #order=[1,2,3,4]
    order=[4,3,2,1]
    print("Moving in {}-order".format(order))
    for i in order:
        full_step(i, pins)
        time.sleep(0.005)

def half_phase(pins):
    for i in range(0,8):
        half_step(i,pins)
        time.sleep(0.0025)

def forward(pins):
    half_phase(pins)

def backward(pins):
    (pins[0], pins[1], pins[2], pins[3]) = (pins[1], pins[0], pins[2], pins[3])
    half_phase(pins)

if __name__=='__main__':
    pins=[6, 13, 19, 26]
    for pin in pins:
        GPIO.setup(pin, GPIO.OUT)
    while True:
        try:
            start=time.time()
            while(time.time()<start+10):
                forward(pins)
            start=time.time()
            while(time.time()<start+10):
                backward(pins)
        except KeyboardInterrupt:
            break
    GPIO.cleanup()