# stepper.set_velocity_setpoint(-1000)
# stepper.set_acceleration(500)
stepper = Stepper(pi, 16, 20, 21, 2000, 5000)
state = 0
#stepper2 = Stepper(pi, 13, 19, 26)
#stepper2.set_velocity_setpoint(4000)
pairs = [
(1000, 1),
(0, 5)]
prev_time = perf_counter()
while True:
v, t = pairs[state % len(pairs)]
stepper.set_velocity_setpoint(v)
curr_time = perf_counter()
if curr_time - prev_time >= t:
state += 1
prev_time = curr_time
stepper.run()
except KeyboardInterrupt:
print("\nExiting...")
# TODO: Switch ENA back to high
finally:
pi.write(16, 1)
print("done")
