print('This program integrates ESP32 and Ultrasonic')

#1. Import Related library/module
import ultrasonic_library
from machine import Pin, SoftI2C, PWM #Pulse width modulation
import Oled_Library
from utime import sleep
#2. Declare Pinconnection of ultrasonic and create an object
#called pikachu using OOP (object Oriented Program)
#OOP format ----> library name.class name (.....)
#pikachu = ultrasonic_library.HCSR04(trigger_pin=27, echo_pin=26, echo_timeout_us=500*2*30)
pikachu = ultrasonic_library.HCSR04(27, 26, 30000)

#Declare Oled connection and create an object for oled --> screen
i2c_oled = SoftI2C(scl=Pin(22), sda=Pin(21))
oled_width = 128 #based on spec
oled_height = 64 #based on spec
screen = Oled_Library.SSD1306_I2C(oled_width, oled_height, i2c_oled)

#declare buzzer connection
buzzer = PWM(Pin(5), Pin.OUT)

while True:
    #let's test pikachu!!!
    jarak_in_mm = pikachu.distance_mm()
    jarak_in_cm = pikachu.distance_cm()

    #Display the distance from the object
    print ('Distance from an object is :', jarak_in_mm,'mm') #Choose mm if u want wholeh number
    print ('Distance from an object is :', jarak_in_cm,'cm') #choose cm if u want fraction number
    print ('--------------------------------------------')
    print ('\n')

    #let's test oled
    #display on oled screen
    screen.fill(0) #To make screen becoming white
    screen.text('Object Detected:', 0, 0, ) #X-axis, Y-axis, 
    screen.text(str(jarak_in_mm,), 0, 10, )
    screen.text('mm',50, 10, )
    screen.text(str(jarak_in_cm), 0, 20, )
    screen.text('cm',50, 20, )
   

    screen.show()

    #Making Decision on how the car with an object
    if jarak_in_mm < 500:
        for i in range (10):
            #turn on the buzzer
            buzzer.init(freq=1500, duty=300)
            sleep(1)
            buzzer.init(freq=1, duty=0)
            sleep(0.3)
    elif 500 <= jarak_in_mm <=1000:
        for i in range (10):
            #turn on the buzzer
            buzzer.init(freq=1500, duty=300)
            sleep(0.3)
            buzzer.init(freq=1, duty=0)
            sleep(0.3)
    else:
        buzzer.init(freq=1, duty=0)
    
    
    sleep (1)