step.py

import sys
import time
import RPi.GPIO as GPIO
 
GPIO.setmode(GPIO.BCM)
 
STEPS_PER_REVOLUTION = 64 * 64
SEQUENCE = [[1,0,0,0],
            [1,1,0,0],
            [0,1,0,0],
            [0,1,1,0],
            [0,0,1,0],
            [0,0,1,1],
            [0,0,0,1],
            [1,0,0,1]]
 
STEPPER_PINS = [4,17,27,22]
for pin in STEPPER_PINS:
  GPIO.setup(pin,GPIO.OUT)
  GPIO.output(pin, GPIO.LOW)
 
SEQUENCE_COUNT = len(SEQUENCE)
PINS_COUNT = len(STEPPER_PINS)
 
sequence_index = 0
direction = 1
steps = 0
 
if len(sys.argv)>1:
  wait_time = int(sys.argv[1])/float(1000)
else:
  wait_time = 1/float(1000)
 
try:
    print('Ctrl-C to stop')
    while True:
        for pin in range(0, PINS_COUNT):
            GPIO.output(STEPPER_PINS[pin], SEQUENCE[sequence_index][pin])
 
        steps += direction
        if steps >= STEPS_PER_REVOLUTION:
            direction = -1
        elif steps < 0:
            direction = 1
 
        sequence_index += direction
        sequence_index %= SEQUENCE_COUNT
 
        print('index={}, direction={}'.format(sequence_index, direction))
        time.sleep(wait_time)
except KeyboardInterrupt:
    print('close')
finally:
    GPIO.cleanup()