motor.py

# Interface a Stepper Motor with Raspberry Pi and L298N
# pip install RPi.GPIO

import RPi.GPIO as GPIO
import time


out1 = 13
out2 = 11
out3 = 15
out4 = 12

speed = .03  # Higher values equal slower speeds. 1 is slow, .001 is very fast
# Lower speeds have higher torque. High speeds have a tendency to strip the motor.
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(out1, GPIO.OUT)
GPIO.setup(out2, GPIO.OUT)
GPIO.setup(out3, GPIO.OUT)
GPIO.setup(out4, GPIO.OUT)


def motor_dispense_candy(num_candy):

    i = 0
    positive = 0
    negative = 0
    y = 0

    GPIO.output(out1, GPIO.LOW)
    GPIO.output(out2, GPIO.LOW)
    GPIO.output(out3, GPIO.LOW)
    GPIO.output(out4, GPIO.LOW)

    # A complete rotation is 400; 180 degree rotation is 200
    x = abs(400 * num_candy)

    for y in range(x, 0, -1):
        if i == 0:
            GPIO.output(out1, GPIO.HIGH)
            GPIO.output(out2, GPIO.LOW)
            GPIO.output(out3, GPIO.LOW)
            GPIO.output(out4, GPIO.LOW)
            time.sleep(speed)

            GPIO.output(out1, GPIO.HIGH)
            GPIO.output(out2, GPIO.HIGH)
            GPIO.output(out3, GPIO.LOW)
            GPIO.output(out4, GPIO.LOW)
            time.sleep(speed)
        elif i == 2:
            GPIO.output(out1, GPIO.LOW)
            GPIO.output(out2, GPIO.HIGH)
            GPIO.output(out3, GPIO.LOW)
            GPIO.output(out4, GPIO.LOW)
            time.sleep(speed)
        elif i == 3:
            GPIO.output(out1, GPIO.LOW)
            GPIO.output(out2, GPIO.HIGH)
            GPIO.output(out3, GPIO.HIGH)
            GPIO.output(out4, GPIO.LOW)
            time.sleep(speed)
        elif i == 4:
            GPIO.output(out1, GPIO.LOW)
            GPIO.output(out2, GPIO.LOW)
            GPIO.output(out3, GPIO.HIGH)
            GPIO.output(out4, GPIO.LOW)
            time.sleep(speed)
        elif i == 5:
            GPIO.output(out1, GPIO.LOW)
            GPIO.output(out2, GPIO.LOW)
            GPIO.output(out3, GPIO.HIGH)
            GPIO.output(out4, GPIO.HIGH)
            time.sleep(speed)
        elif i == 6:
            GPIO.output(out1, GPIO.LOW)
            GPIO.output(out2, GPIO.LOW)
            GPIO.output(out3, GPIO.LOW)
            GPIO.output(out4, GPIO.HIGH)
            time.sleep(speed)
        elif i == 7:
            GPIO.output(out1, GPIO.HIGH)
            GPIO.output(out2, GPIO.LOW)
            GPIO.output(out3, GPIO.LOW)
            GPIO.output(out4, GPIO.HIGH)
            time.sleep(speed)
        if i == 7:
            i = 0
            continue
        i = i+1


def cleanup():
    GPIO.cleanup()


def motor_main():
    try:
        dispense_candy(1)
    except KeyboardInterupt:
        cleanup()


if __name__ == "__main__":
    motor_main()