#######################################################
##		Script by Markus Buecher
##	GPIO Pins for Raspberry Pi B+ and 2B
#######################################################
#This script is written to use an A4988 Stepper Driver like an Pololu, a Stepper Motor,
#2 Endswitches and to trigger an Relayboard to trigger a camera with its remote connector.
#Please pay attention while connecting your camera to the remote connector. This could cause
#damage to your camera. Use this script at your own risk!! Have fun

from __future__ import division
import time
import RPi.GPIO as GPIO

#Deactivate warnings
GPIO.setwarnings(False)

#Configure the GPIO-Pins to Input and Output:
#GPIO Number = Pin-Number at Board
GPIO.setmode(GPIO.BOARD)

#Variables
zeit=int(raw_input("Exposure time:   "))
dire=int(raw_input("Direction(right=1, left = 0):   "))
numStep=int(raw_input("Steps:   "))
sps=int(raw_input("Steps per Second:   "))
tick= 1 / sps
a=15
b=16

#Input

GPIO.setup(15, GPIO.IN, pull_up_down = GPIO.PUD_UP) #Switch right
GPIO.setup(16, GPIO.IN, pull_up_down = GPIO.PUD_UP) #Switch left
#Output

#Output for Stepper

GPIO.setup(35, GPIO.OUT) #DIR
GPIO.setup(36, GPIO.OUT) #STEP

#Output Trigger

GPIO.setup(29, GPIO.OUT) #Trigger

stopFlag = False

def initStep():
	counter = 0
	print("Initialising...")
	global stopFlag
	while not stopFlag:
                GPIO.output(36, GPIO.HIGH)
                time.sleep(tick)
                GPIO.output(36, GPIO.LOW)
                time.sleep(tick)

def initStop(a):
	ctr = 0
	global stopFlag
	stopFlag = True
	print("Stop")
	while (dire == 1 and ctr < 200):	
		GPIO.output(35, GPIO.HIGH)
		GPIO.output(36, GPIO.HIGH)
		time.sleep(tick)
		GPIO.output(36, GPIO.LOW)
		time.sleep(tick)
		ctr = ctr + 1
			
	while (dire == 0 and ctr < 200):
		GPIO.output(35, GPIO.LOW)
		GPIO.output(36, GPIO.HIGH)
		time.sleep(tick)
		GPIO.output(36, GPIO.LOW)
		time.sleep(tick)
		ctr = ctr + 1
	
def normalStop(b):
	ctr = 0
	global stopFlag
	stopFlag = True
	print("Finished!")
	while (dire == 1 and ctr < 200):
		GPIO.output(35, GPIO.LOW)
		GPIO.output(36, GPIO.HIGH)
		time.sleep(tick)
		GPIO.output(36, GPIO.LOW)
		time.sleep(tick)
		ctr = ctr + 1

	while (dire == 0 and ctr < 200):
		GPIO.output(35, GPIO.HIGH)
		GPIO.output(36, GPIO.HIGH)
		time.sleep(tick)
		GPIO.output(36, GPIO.LOW)
		time.sleep(tick)
		ctr = ctr + 1
	if (ctr == 200):
		exit()

def trigger():
	print(" ")
	print("Taking Photo!")
	print(" ")
	time.sleep(0.5)
	GPIO.output(29, GPIO.LOW)
	time.sleep(zeit)
	GPIO.output(29, GPIO.HIGH)
	time.sleep(0.5)

def step(numStep):
	print("Continue")
	counter = 0
	while (counter < numStep):
		GPIO.output(36, GPIO.HIGH)
		time.sleep(tick)
		GPIO.output(36, GPIO.LOW)
		time.sleep(tick)
		counter = counter + 1
		if counter % 100 == 0:
			print(counter)

def right():
	GPIO.output(35, GPIO.HIGH)


def left():
	GPIO.output(35, GPIO.LOW)

def switch(m):
	GPIO.add_event_detect(15, GPIO.FALLING, bouncetime = 500)
	GPIO.add_event_detect(16, GPIO.FALLING, bouncetime = 500)
	if (m == 1):
		GPIO.add_event_callback(15, initStop)
		GPIO.add_event_callback(16, initStop)
	elif (m == 0):
		GPIO.add_event_callback(15, normalStop)
		GPIO.add_event_callback(16, normalStop)


def init():
	if (dire == 1):
		switch(1)
		left()
		initStep()

	elif (dire == 0):
		switch(1)
		right()
		initStep()

def rightMainLoop():
	right()
	step(numStep)
	trigger()

def leftMainLoop():
	left()
	step(numStep)
	trigger()

init()

time.sleep(3)
raw_input("Finished initializing. Press any Button to continue...")
print ("Wait!")
while (dire == 1):
	GPIO.remove_event_detect(15)
	GPIO.remove_event_detect(16)
	switch(0)
	rightMainLoop()

while (dire == 0):
	GPIO.remove_event_detect(15)
	GPIO.remove_event_detect(16)
	switch(0)
	leftMainLoop()