#!/usr/bin/env python

#Focusing up for 345 micro steps : 
#python3.7 path/to/file/focus.py 345 up

from adafruit_motor import stepper
from adafruit_motorkit import MotorKit
from time import sleep

import sys

nb_step = int(sys.argv[1])
orientation = str(sys.argv[2])



kit = MotorKit()

stage = kit.stepper2

stage.release()

def focus(steps,orientation):
    #0.25mm/step
    #31um/microsteps

    stage.release()
    
    if orientation == 'up':
        for i in range(steps):
            stage.onestep(direction=stepper.FORWARD, style=stepper.MICROSTEP)
            sleep(0.001)
            
    if orientation == 'down':
        for i in range(steps):
            stage.onestep(direction=stepper.BACKWARD, style=stepper.MICROSTEP)
            sleep(0.001)
            
    stage.release()

    
focus(nb_step, orientation)