From f94073e1ea6647f9bbd1ae86b0ac3c652aead3c7 Mon Sep 17 00:00:00 2001
From: xGlc <xglocman@gmail.com>
Date: Tue, 14 Apr 2026 21:31:59 +0200
Subject: [PATCH] feat: stepper logic

---
 drv8825.py | 40 ++++++++++++++++++++++++++++++++++++++++
 main.py    |  8 ++++++--
 motor.py   | 27 +++++++++++++++++++++++++++
 3 files changed, 73 insertions(+), 2 deletions(-)
 create mode 100644 drv8825.py
 create mode 100644 motor.py

diff --git a/drv8825.py b/drv8825.py
new file mode 100644
index 0000000..8f4f35a
--- /dev/null
+++ b/drv8825.py
@@ -0,0 +1,40 @@
+from time import sleep_us
+
+from machine import Pin
+
+
+class DRV8825:
+    LEFT = 0
+    RIGHT = 1
+
+    def __init__(
+        self,
+        dir_pin: Pin,
+        step_pin: Pin,
+        sleep_pin: Pin,
+        rst_pin: Pin,
+        # microstep_pins: tuple[Pin, Pin, Pin],
+    ) -> None:
+        self.sleep_pin = sleep_pin
+        self.step_pin = step_pin
+        self.dir_pin = dir_pin
+        self.rst_pin = rst_pin
+        # self.microstep_pins = microstep_pins
+        pass
+
+    def init(self):
+        self.sleep_pin.on()
+        self.rst_pin.on()
+
+    def set_direction(self, direction: int) -> None:
+        if direction == self.LEFT:
+            self.dir_pin.off()
+        else:
+            self.dir_pin.on()
+
+    def make_step(self, delay: int = 1000) -> None:
+        self.step_pin.on()
+        sleep_us(delay)
+        self.step_pin.off()
+        sleep_us(delay)
+        pass
diff --git a/main.py b/main.py
index 26a4b3d..48c543d 100644
--- a/main.py
+++ b/main.py
@@ -9,5 +9,9 @@ import display_program
 # led program
 import led_program
 
-_thread.start_new_thread(led_program.boostrap, ())
-_thread.start_new_thread(display_program.display, ())
+# motor
+import motor
+
+# _thread.start_new_thread(led_program.boostrap, ())
+# _thread.start_new_thread(display_program.display, ())
+_thread.start_new_thread(motor.motor_run, ())
diff --git a/motor.py b/motor.py
new file mode 100644
index 0000000..6d88cd0
--- /dev/null
+++ b/motor.py
@@ -0,0 +1,27 @@
+from time import sleep
+
+from machine import Pin
+
+from drv8825 import DRV8825
+
+
+def motor_run():
+    motor = DRV8825(
+        Pin(21, Pin.OUT), Pin(19, Pin.OUT), Pin(18, Pin.OUT), Pin(5, Pin.OUT)
+    )
+    motor.init()
+
+    while True:
+        motor.set_direction(DRV8825.LEFT)
+
+        for i in range(0, 1000):
+            motor.make_step(2000)
+
+        sleep(1)
+
+        motor.set_direction(DRV8825.RIGHT)
+
+        for i in range(0, 1000):
+            motor.make_step(2000)
+
+        sleep(1)