#!/usr/bin/env python

# Import Modules
from Raspi_MotorHAT import Raspi_MotorHAT, Raspi_DCMotor, Raspi_StepperMotor
import time
import atexit
import RPi.GPIO as GPIO
import os

# Use GPIO Number instead of Pin Numbers
GPIO.setmode(GPIO.BCM)

# Set GPIO as input
GPIO.setup(23, GPIO.IN, pull_up_down = GPIO.PUD_UP)

# Create a default object
mh = Raspi_MotorHAT(0x6F)

# Shutdown Motors
def turnOffMotors():
        mh.getMotor(1).run(Raspi_MotorHAT.RELEASE)
        mh.getMotor(2).run(Raspi_MotorHAT.RELEASE)
        mh.getMotor(3).run(Raspi_MotorHAT.RELEASE)
        mh.getMotor(4).run(Raspi_MotorHAT.RELEASE)
atexit.register(turnOffMotors)

# Create Motor object [steps/rev, motor portnumber]
myMotor = mh.getMotor(2)

# Set Speed [RPM] (0 to 255)
myMotor.setSpeed(50)

# Set Timer [s]
t_end = time.time() + 23

# Program
if GPIO.input(23) == 0:

    while time.time() < t_end:
        myMotor.run(Raspi_MotorHAT.BACKWARD)

    else:
        myMotor.run(Raspi_MotorHAT.RELEASE)

elif GPIO.input(23) == 1:

    os.system("/home/pi/Raspi_MotorHAT/open.py")