From a066b13d20c2d53e8f04c90cd2be9763470269c6 Mon Sep 17 00:00:00 2001
From: marisa <marisa@fwmari.net>
Date: Sun, 29 Oct 2023 20:56:03 -0300
Subject: [PATCH] Fix gpio setmode

---
 motor_passo/__main__.py |  5 +++--
 motor_passo/motor.py    | 13 +++++++++----
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/motor_passo/__main__.py b/motor_passo/__main__.py
index 0e552e6..1ec6b40 100644
--- a/motor_passo/__main__.py
+++ b/motor_passo/__main__.py
@@ -2,9 +2,10 @@ from motor_passo.motor import Motor
 
 
 def main():
-    motor = Motor([5, 6, 13])
+    motor = Motor([13, 19, 26])
     motor.setup()
-    motor.step(24 * 2)
+    motor.set_speed(90)
+    motor.step(24 * 100)
 
 
 if __name__ == "__main__":
diff --git a/motor_passo/motor.py b/motor_passo/motor.py
index b6b6ec8..2e6ca07 100644
--- a/motor_passo/motor.py
+++ b/motor_passo/motor.py
@@ -10,13 +10,19 @@ class Motor:
     rev_steps: int = 24
 
     _delay: int = 0
+    _step_configs: list[list[int]] = field(default_factory=lambda: [
+        [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
+    ])
 
     def __post_init__(self) -> None:
         self.set_speed(4)
 
     def setup(self) -> None:
+        gpio.setmode(gpio.BCM)
+
         for pin in self.pins:
-            gpio.setmode(pin, gpio.OUT)
+            gpio.setup(pin, gpio.OUT)
+            gpio.output(pin, gpio.LOW)
 
     def step(self, steps: int) -> None:
         direction = int(steps / abs(steps))
@@ -32,13 +38,12 @@ class Motor:
             sleep(self._delay)
 
     def set_speed(self, rpm: int) -> None:
-        self._delay = 60 * 1000 / self.rev_steps / rpm
+        self._delay = 60 / self.rev_steps / rpm
 
     def _step(self, step_num: int):
         assert (step_num >= 0 and step_num < 3)
 
-        confs = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
-        conf = confs[step_num]
+        conf = self._step_configs[0][step_num]
 
         for p, c in zip(self.pins, conf):
             gpio.output(p, c)