from time import sleep

from machine import PWM, 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 = PWM(step_pin, freq=1000, duty_u16=0)
        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.init(freq=delay, duty_u16=32768)
        sleep(1)
        self.step_pin.init(freq=500, duty_u16=0)
        sleep(1)