DRV8825.py

import RPi.GPIO as GPIO
import time

#this class is for configuring and cotrolling the stepper motors 

MotorDir = [
    'forward',
    'backward',
]



class DRV8825():
    
    def __init__(self, dir_pin, step_pin, enable_pin, mode_pins):
        self.dir_pin = dir_pin
        self.step_pin = step_pin        
        self.enable_pin = enable_pin
        self.mode_pins = mode_pins
       
        
        GPIO.setmode(GPIO.BCM)
        GPIO.setwarnings(False)
        GPIO.setup(self.dir_pin, GPIO.OUT)
        GPIO.setup(self.step_pin, GPIO.OUT)
        GPIO.setup(self.enable_pin, GPIO.OUT)
        GPIO.setup(self.mode_pins, GPIO.OUT)
        
    def digital_write(self, pin, value):
        GPIO.output(pin, value)
        
    def Stop(self):
        self.digital_write(self.enable_pin, 1)
    
    
        
    def TurnStep(self, Dir, steps, stepdelay=0.005):
        if (Dir == MotorDir[0]):
            self.digital_write(self.enable_pin, 0)
            self.digital_write(self.dir_pin, 0)
        elif (Dir == MotorDir[1]):
            self.digital_write(self.enable_pin, 0)
            self.digital_write(self.dir_pin, 1)
        else:
            print ("the dir must be : 'forward' or 'backward'")
            self.digital_write(self.enable_pin, 1)
            return

        if (steps == 0):
            return
            
        for i in range(steps):
            self.digital_write(self.step_pin, True)
            time.sleep(stepdelay)
            self.digital_write(self.step_pin, False)
            time.sleep(stepdelay)