from machine import Pin, PWM, ADC
from time import sleep

class Servo:
    # these defaults work for the standard TowerPro SG90
    __servo_pwm_freq = 50
    __min_u10_duty = 26 - 0 # offset for correction
    __max_u10_duty = 123- 0  # offset for correction
    min_angle = 0
    max_angle = 180
    current_angle = 0.001


    def __init__(self, pin):
        self.__initialise(pin)


    def update_settings(self, servo_pwm_freq, min_u10_duty, max_u10_duty, min_angle, max_angle, pin):
        self.__servo_pwm_freq = servo_pwm_freq
        self.__min_u10_duty = min_u10_duty
        self.__max_u10_duty = max_u10_duty
        self.min_angle = min_angle
        self.max_angle = max_angle
        self.__initialise(pin)


    # def move(self, angle):
    #     # round to 2 decimal places, so we have a chance of reducing unwanted servo adjustments
    #     angle = round(angle, 2)
    #     # do we need to move?
    #     if angle == self.current_angle:
    #         return
    #     self.current_angle = angle
    #     # calculate the new duty cycle and move the motor
    #     duty_u10 = self.__angle_to_u10_duty(angle)
    #     self.__motor.duty(duty_u10)
    def move(self, angle):
        # round to 2 decimal places, so we have a chance of reducing unwanted servo adjustments
        angle = round(angle, 2)
        # limit the angle within the defined range
        angle = max(self.min_angle, min(self.max_angle, angle))
        # do we need to move?
        if angle == self.current_angle:
            return
        self.current_angle = angle
        # calculate the new duty cycle and move the motor
        duty_u10 = self.__angle_to_u10_duty(angle)
        self.__motor.duty(duty_u10)


    def __angle_to_u10_duty(self, angle):
        return int((angle - self.min_angle) * self.__angle_conversion_factor) + self.__min_u10_duty


    def __initialise(self, pin):
        self.current_angle = -0.001
        self.__angle_conversion_factor = (self.__max_u10_duty - self.__min_u10_duty) / (self.max_angle - self.min_angle)
        self.__motor = PWM(Pin(pin))
        self.__motor.freq(self.__servo_pwm_freq)

motor=Servo(pin=22) # A changer selon la broche utilisée
ldr1=ADC(Pin(14,Pin.IN))
ldr2=ADC(Pin(4,Pin.IN))
pos=90

# def map(x,inmin,inmax,outmin,outmax):
#     return (x-inmin)*(outmax-outmin)//(inmax-inmin)+outmin
    


while 1:
    reading1=ldr1.read()
    reading2=ldr2.read()
    sleep(0.5)
    print(f"{reading1}\t {reading2}")
    if reading1>reading2:
        pos-=1
        motor.move(pos)
        
    if reading1<reading2:
        pos+=1
        motor.move(pos)
    #         
    # else:
    # if reading1>reading2