From 1e3198d09b20045f9b32297ba00e1841d056d346 Mon Sep 17 00:00:00 2001
From: BinarySandia04 <aranseraroig@gmail.com>
Date: Wed, 22 Apr 2026 12:31:15 +0200
Subject: [PATCH] Motor driver fix

---
 backend/main.py | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/backend/main.py b/backend/main.py
index 9efafb0..781caee 100644
--- a/backend/main.py
+++ b/backend/main.py
@@ -28,8 +28,6 @@ def step_motor(steps, direction, delay=0.001):
     GPIO.output(DIR, direction)
 
     for _ in range(steps):
-        if not motor_running:
-            break
         GPIO.output(STEP, GPIO.HIGH)
         time.sleep(delay)
         GPIO.output(STEP, GPIO.LOW)
@@ -39,13 +37,13 @@ def step_motor(steps, direction, delay=0.001):
 def motor_loop():
     global motor_running
 
-    while motor_running:
+    while True:
+        if not motor_running:
+            time.sleep(0.1)
+            continue
         step_motor(200, GPIO.HIGH, 0.001)
         time.sleep(1)
 
-        if not motor_running:
-            break
-
         step_motor(200, GPIO.LOW, 0.001)
         time.sleep(1)
 
@@ -64,6 +62,10 @@ COMMANDS = {
 # API ENDPOINTS
 # -------------------------
 
+motor_thread = threading.Thread(target=motor_loop, daemon=True)
+motor_thread.start()
+print("Motor thread initialized")
+
 @app.post("/run")
 def run_task(task: str, token: str):
     if token != "MY_SECRET_TOKEN":
@@ -90,12 +92,12 @@ def start_motor(token: str):
         return {"status": "already running"}
 
     motor_running = True
-    motor_thread = threading.Thread(target=motor_loop, daemon=True)
-    motor_thread.start()
+    GPIO.output(EN, GPIO.LOW)  # disable driver
 
     return {"status": "motor started"}
 
 
+
 @app.post("/motor/stop")
 def stop_motor(token: str):
     global motor_running