#!/usr/bin/python3
import RPi.GPIO as GPIO
import time
 
out1 = 17
out2 = 27
out3 = 22
out4 = 23
 
# careful lowering this, at some point you run into the mechanical limitation of how quick your motor can move
step_sleep = 0.002
 
step_count = 200
 
# setting up
GPIO.setmode( GPIO.BCM )
GPIO.setup( out1, GPIO.OUT )
GPIO.setup( out2, GPIO.OUT )
GPIO.setup( out3, GPIO.OUT )
GPIO.setup( out4, GPIO.OUT )
 
# initializing
GPIO.output( out1, GPIO.LOW )
GPIO.output( out2, GPIO.LOW )
GPIO.output( out3, GPIO.LOW )
GPIO.output( out4, GPIO.LOW )
 
 
def cleanup():
    GPIO.output( out1, GPIO.LOW )
    GPIO.output( out2, GPIO.LOW )
    GPIO.output( out3, GPIO.LOW )
    GPIO.output( out4, GPIO.LOW )
    GPIO.cleanup()
 
 
# the meat
try:
    for i in range(step_count):
        if i%4==0:
            GPIO.output( out4, GPIO.HIGH )
            GPIO.output( out3, GPIO.LOW )
            GPIO.output( out2, GPIO.LOW )
            GPIO.output( out1, GPIO.LOW )
        elif i%4==1:
            GPIO.output( out4, GPIO.LOW )
            GPIO.output( out3, GPIO.LOW )
            GPIO.output( out2, GPIO.HIGH )
            GPIO.output( out1, GPIO.LOW )
        elif i%4==2:
            GPIO.output( out4, GPIO.LOW )
            GPIO.output( out3, GPIO.HIGH )
            GPIO.output( out2, GPIO.LOW )
            GPIO.output( out1, GPIO.LOW )
        elif i%4==3:
            GPIO.output( out4, GPIO.LOW )
            GPIO.output( out3, GPIO.LOW )
            GPIO.output( out2, GPIO.LOW )
            GPIO.output( out1, GPIO.HIGH )
 
        time.sleep( step_sleep )
 
except KeyboardInterrupt:
    cleanup()
    exit( 1 )
 
cleanup()
exit( 0 )