import pigpio
import time

# Pin numbers (BCM)
DIR_PIN = 11
STEP_PIN = 9
EN_PIN = 10

# Connect to pigpio daemon
pi = pigpio.pi()
if not pi.connected:
    exit()

# Set up pins
pi.set_mode(DIR_PIN, pigpio.OUTPUT)
pi.set_mode(STEP_PIN, pigpio.OUTPUT)
pi.set_mode(EN_PIN, pigpio.OUTPUT)

def move_motor(steps, direction=True, step_delay_us=10):
    """
    Moves the motor a specific number of steps.
    :param steps: Number of step pulses.
    :param direction: True for one way, False for the other.
    :param step_delay_us: Microseconds between rising edges (controls speed).
    """
    # Enable motor driver (LOW = enabled)
    pi.write(EN_PIN, 0)

    # Set direction
    pi.write(DIR_PIN, 1 if direction else 0)

    # Create pulse waveform
    pulses = []
    for _ in range(steps):
        pulses.append(pigpio.pulse(1 << STEP_PIN, 0, step_delay_us))   # STEP high
        pulses.append(pigpio.pulse(0, 1 << STEP_PIN, step_delay_us))   # STEP low

    pi.wave_clear()
    pi.wave_add_generic(pulses)
    wave_id = pi.wave_create()

    if wave_id >= 0:
        pi.wave_send_once(wave_id)
        while pi.wave_tx_busy():
            time.sleep(0.01)

        pi.wave_delete(wave_id)

    # Optional: disable motor
    pi.write(EN_PIN, 1)

# Example: Move 200 steps forward with 1ms step pulse (i.e., ~500 steps/sec)
move_motor(1600, direction=True, step_delay_us=200)

# Clean up
pi.stop()