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#! /usr/env/python

from Phidget22.Phidget import *
from Phidget22.Devices.DigitalInput import *
from Phidget22.Devices.Stepper import *
import time

#Stepper moving up
def motorHoch():

	mot4 = Stepper()

	mot4.setHubPort(0)

	mot4.setDeviceSerialNumber(682067)

	mot4.openWaitForAttachment(5000)

	mot4.setAcceleration(1000000)
	mot4.setVelocityLimit(15000)
	mot4.setTargetPosition(10000)

	mot4.setEngaged(True)

	while mot4.getIsMoving():
		time.sleep(0.1)  # Eine kurze Verzögerung, um unnötige CPU-Auslastung zu vermeiden

	mot4.close()

pass

#Stepper moving down
def motorRunter():

	mot4 = Stepper()
	# print("1")
	mot4.setHubPort(0)
	# print("2")
	mot4.setDeviceSerialNumber(682067)
	# print("3")
	mot4.openWaitForAttachment(5000)
	# print("4")
	mot4.setAcceleration(1000000)
	mot4.setVelocityLimit(15000)
	mot4.setTargetPosition(-10000)
	# print("5")
	mot4.setEngaged(True)
	# print("6")
	while mot4.getIsMoving():
		time.sleep(0.1)  # Eine kurze Verzögerung, um unnötige CPU-Auslastung zu vermeiden
	# print("7")
	mot4.close()
	# print("8")



pass

#stepper stopp
def motorStopp():
	mot4 = Stepper()
	# print("1")
	mot4.setHubPort(0)
	# print("2")
	mot4.setDeviceSerialNumber(682067)
	# print("3")
	mot4.openWaitForAttachment(5000)
	# print("4")
	mot4.setTargetPosition(0)
	# print("5")
	mot4.setEngaged(False)
	# print("6")
	while mot4.getIsMoving():
		time.sleep(0.1)  # Eine kurze Verzögerung, um unnötige CPU-Auslastung zu vermeiden
	# print("7")
	mot4.close()

pass

#status of digital input
def onStateChangeTop(self, state):
	print("State [" + str(self.getHubPort()) + "]: " + str(state))

pass



def main():
	# Initialisierung Endschalter oben
	digitalInputTop = DigitalInput()
	digitalInputBot = DigitalInput()

	digitalInputTop.setIsHubPortDevice(True)
	digitalInputTop.setHubPort(3)
	digitalInputTop.setDeviceSerialNumber(682056)

	digitalInputBot.setIsHubPortDevice(True)
	digitalInputBot.setHubPort(3)
	digitalInputBot.setDeviceSerialNumber(682057)

	digitalInputTop.setOnStateChangeHandler(onStateChangeTop)
	digitalInputBot.setOnStateChangeHandler(onStateChangeTop)
	digitalInputTop.openWaitForAttachment(5000)
	digitalInputBot.openWaitForAttachment(5000)

	digitalInputTop.getState()
	digitalInputBot.getState()

	#try:
	#	input("Press Enter to Stop\n")
	#except (Exception, KeyboardInterrupt):
	#	pass
	
	#loop for stepper moving up until the upper input is 0 and then moving down until the lower input is 0

	bool1 = False
	while True:
		if digitalInputTop.getState() and digitalInputBot.getState() and bool1 == False:
			motorHoch()
			print("oben =", digitalInputTop.getState())
			continue
		bool1 = True


		if digitalInputBot.getState() and bool1 == True:
			motorRunter()
			print("oben =", digitalInputTop.getState())
			continue





		else:
			motorStopp()
			print("unten =", digitalInputBot.getState())
			break



	digitalInputTop.close()
	digitalInputBot.close()