print("Hello, ESP32!")
from machine import Pin, PWM, time_pulse_us
from time import sleep

# Definimos las salidas
miz1 = Pin(25, Pin.OUT)
miz2 = Pin(26, Pin.OUT)
mder1 = Pin(32, Pin.OUT)
mder2 = Pin(33, Pin.OUT)

# Ultrasonico
sonido = 340
pulso = 10
tring = Pin(5, Pin.OUT)
echo = Pin(18, Pin.IN)
led = Pin(27, Pin.OUT)

# FUNCIONES PARA LOS MOTORES
def avanzar():
    miz1.on()
    miz2.off()
    mder1.on()
    mder2.off()

def retroceder():
    miz1.off()
    miz2.on()
    mder1.off()
    mder2.on()

def derecha():
    miz1.on()
    miz2.off()
    mder1.off()
    mder2.on()

def izquierda():
    miz1.off()
    miz2.on()
    mder1.on()
    mder2.off()

def parar():
    miz1.off()
    miz2.off()
    mder1.off()
    mder2.off()

def ultrasonico():
    tring.value(0)
    sleep(0.000002)  # Sleep for 2 microseconds
    tring.value(1)
    sleep(0.00001)   # Sleep for 10 microseconds
    tring.value(0)
    duracion = time_pulse_us(echo, 1, 30000)
    distancia_cm = sonido * duracion / 20000
    if distancia_cm >= 50:
        led.on()
    else:
        led.off()
    sleep(0.5)

parar()
sleep(0.5)
while True:
    avanzar()
    sleep(0.2)
    parar()
    sleep(0.2)
    derecha()
    sleep(0.5)
    parar()
    sleep(0.2)
    izquierda()
    sleep(0.5)
    parar()
    sleep(0.2)
    ultrasonico()
    sleep(0.5)