From 44fe3361a36fda9fbfef8977fd57f2c78215a3de Mon Sep 17 00:00:00 2001
From: BinarySandia04 <aranseraroig@gmail.com>
Date: Wed, 22 Apr 2026 13:41:39 +0200
Subject: [PATCH] Now working

---
 backend/main.py        | 27 ++++++++++++++++++---------
 quibot-web/app/app.vue | 10 +++++++---
 2 files changed, 25 insertions(+), 12 deletions(-)

diff --git a/backend/main.py b/backend/main.py
index ee21435..d37222d 100644
--- a/backend/main.py
+++ b/backend/main.py
@@ -18,7 +18,7 @@ GPIO.setup(STEP, GPIO.OUT)
 GPIO.setup(DIR, GPIO.OUT)
 GPIO.setup(EN, GPIO.OUT)
 
-GPIO.output(EN, GPIO.HIGH)
+GPIO.output(EN, GPIO.LOW)
 
 
 motor_thread = None
@@ -32,13 +32,11 @@ def step_motor(steps, direction, delay=0.001):
         GPIO.output(STEP, GPIO.LOW)
         time.sleep(delay)
 
-def motor_step():
-    GPIO.output(EN, GPIO.LOW)  # enable driver
-
+def motor_step(dir):
+    dir_pin = GPIO.HIGH if dir == "forward" else GPIO.LOW
+    time.sleep(0.02)  # small delay before starting
     print("Motor running...")
-    step_motor(400, GPIO.LOW, 0.001)
-
-    GPIO.output(EN, GPIO.HIGH)  # disable driver
+    step_motor(200, dir_pin, 0.001)
 
 
 # -------------------------
@@ -70,7 +68,7 @@ def run_task(task: str, token: str):
         return {"error": e.output}
 
 
-@app.post("/motor/step")
+@app.post("/motor/step/forward")
 def start_motor(token: str):
     global motor_thread
 
@@ -78,12 +76,23 @@ def start_motor(token: str):
         raise HTTPException(status_code=403, detail="Unauthorized")
 
 
-    motor_thread = threading.Thread(target=motor_step, daemon=True)
+    motor_thread = threading.Thread(target=motor_step, args=("forward",), daemon=True)
     motor_thread.start()
 
     return {"status": "motor started"}
 
+@app.post("/motor/step/backwards")
+def start_motor(token: str):
+    global motor_thread
 
+    if token != "MY_SECRET_TOKEN":
+        raise HTTPException(status_code=403, detail="Unauthorized")
+
+
+    motor_thread = threading.Thread(target=motor_step, args=("backwards",), daemon=True)
+    motor_thread.start()
+
+    return {"status": "motor started"}
 
 @app.post("/motor/stop")
 def stop_motor(token: str):
diff --git a/quibot-web/app/app.vue b/quibot-web/app/app.vue
index 1ea8239..1ba1929 100644
--- a/quibot-web/app/app.vue
+++ b/quibot-web/app/app.vue
@@ -3,8 +3,12 @@
     <h1>Quibot Motor Control</h1>
 
     <div class="actions">
-      <button :disabled="pending" @click="callMotor('step')">
-        {{ pending && action === 'step' ? 'Starting...' : 'Step' }}
+      <button :disabled="pending" @click="callMotor('step/forward')">
+        {{ pending && action === 'step/forward' ? 'Starting...' : 'Step Forward' }}
+      </button>
+
+      <button :disabled="pending" @click="callMotor('step/backwards')">
+        {{ pending && action === 'step/backwards' ? 'Starting...' : 'Step Backwards' }}
       </button>
 
       <button :disabled="pending" class="stop" @click="callMotor('stop')">
@@ -25,7 +29,7 @@
 <script setup lang="ts">
 import { ref } from 'vue'
 
-type MotorAction = 'step' | 'stop'
+type MotorAction = 'step/forward' | 'step/backwards' | 'stop'
 
 const pending = ref(false)
 const action = ref<MotorAction | null>(null)