from artiq.experiment import *


class Stepper(EnvExperiment):
    def build(self):
        self.setattr_device("core")
        self.step_right = self.get_device("ttl0")
        self.step_left = self.get_device("ttl1")
        self.endstop_right = self.get_device("ttl4")
        self.endstop_left = self.get_device("ttl5")

    @kernel
    def home(self):
        while not self.endstop_right.sample_get_nonrt():
            delay(5*ms)
            for i in range(4000):
              self.step_right.pulse(5*us)
              delay(5*us)
        while self.endstop_right.sample_get_nonrt():
            self.step_left.pulse(5*us)

    @kernel
    def calibrate_full_range(self):
        self.home()
        full_range = 0
        while not self.endstop_left.sample_get_nonrt():
            self.step_left.pulse(5*us)
            full_range += 1
        return full_range

    @kernel
    def run(self):
        self.core.reset()

        #full_range = self.calibrate_full_range()
        full_range = 186900
        used_range = int(0.9*full_range)
        self.core.break_realtime()
        self.home()

        for i in range((full_range - used_range)//2):
            self.step_left.pulse(5*us)
            delay(5*us)

        while True:
            for i in range(used_range):
                self.step_left.pulse(5*us)
                delay(5*us)
            delay(50*ms)

            for i in range(used_range):
                self.step_right.pulse(5*us)
                delay(5*us)
            delay(50*ms)