From 7a21e9499bf969031c10818a4bf0f50dbb117632 Mon Sep 17 00:00:00 2001
From: zwarenelle <tomie121@gmail.com>
Date: Fri, 28 Jun 2024 15:40:47 +0200
Subject: [PATCH] add second motor

---
 src/Client/RobotController/Motor.cs   | 10 +++----
 src/Client/RobotController/stepper.py | 41 +++++++++++++++++++++++----
 2 files changed, 40 insertions(+), 11 deletions(-)

diff --git a/src/Client/RobotController/Motor.cs b/src/Client/RobotController/Motor.cs
index 2c16abc..dd3262c 100644
--- a/src/Client/RobotController/Motor.cs
+++ b/src/Client/RobotController/Motor.cs
@@ -4,16 +4,16 @@ using System.Text;
 
 namespace RobotController
 {
-  class Motor(int stepOne, int dirOne, int stepTwo, int dirTwo)
+  class Motor(int stepLeft, int dirLeft, int stepRight, int dirRight)
   {
     StringBuilder outputBuilder;
     ProcessStartInfo processStartInfo;
     Process process;
 
-    public int STEP_PIN1 { get; set; } = stepOne;
-    public int DIR_PIN1 { get; set; } = dirOne;
-    public int STEP_PIN2 { get; set; } = stepTwo;
-    public int DIR_PIN2 { get; set; } = dirTwo;
+    public int _stepLeft { get; set; } = stepLeft;
+    public int _dirLeft { get; set; } = dirLeft;
+    public int _stepRight { get; set; } = stepRight;
+    public int _dirRight { get; set; } = dirRight;
 
     public void Drive(bool direction, int steps)
     {
diff --git a/src/Client/RobotController/stepper.py b/src/Client/RobotController/stepper.py
index fa198c2..4ab4a74 100644
--- a/src/Client/RobotController/stepper.py
+++ b/src/Client/RobotController/stepper.py
@@ -2,16 +2,45 @@ import RPi.GPIO as GPIO
 from RpiMotorLib import RpiMotorLib
 import time
 import sys
+import threading
 
-direction= 23 # Direction (DIR) GPIO Pin
-step = 22 # Step GPIO Pin
+# Motor pins
+stepLeft = 22
+dirLeft = 23
+enableLeft = 24
+
+stepRight = 25
+dirRight = 26
+enableRight = 27
+
+def init():
+    GPIO.setup(enableLeft, GPIO.OUT)
+    GPIO.setup(enableRight, GPIO.OUT)
+
+    motorLeft = RpiMotorLib.A4988Nema(dirLeft, stepLeft, (21,21,21), "DRV8825")
+    motorRight = RpiMotorLib.A4988Nema(dirRight, stepRight, (21,21,21), "DRV8825")
 
 def drive():
-    mymotortest = RpiMotorLib.A4988Nema(direction, step, (21,21,21), "DRV8825")
+    GPIO.output(enableLeft, GPIO.LOW)
+    motorLeft.motor_go(False, # True=Clockwise, False=Counter-Clockwise
+                     "Full" , # Step type (Full,Half,1/4,1/8,1/16,1/32)
+                     200, # number of steps
+                     .0005, # step delay [sec]
+                     False, # True = print verbose output 
+                     .05) # initial delay [sec]
+    GPIO.output(enableLeft, GPIO.HIGH)
 
-    mymotortest.motor_go(False, "Full", 200, 0.0005, False, .05)
+    GPIO.output(enableRight, GPIO.LOW)
+    motorRight.motor_go(False, # True=Clockwise, False=Counter-Clockwise
+                     "Full" , # Step type (Full,Half,1/4,1/8,1/16,1/32)
+                     200, # number of steps
+                     .0005, # step delay [sec]
+                     False, # True = print verbose output 
+                     .05) # initial delay [sec]
+    GPIO.output(enableRight, GPIO.HIGH)
 
-    GPIO.cleanup()
+def shutdown():
+GPIO.cleanup() # clear GPIO allocations after run
     
 if __name__ == '__main__':
-    globals()[sys.argv[1]]()
\ No newline at end of file
+    globals()[sys.argv[1]]()