from machine import Pin, PWM,ADC #import the necessary modules Pin and ADC
import utime #used to set time and delays

#declaring variables and assigning them to their GP pins (only GP pin 26,27 and 28 have ADC capabilities)
x1Axis= ADC(Pin(27))
y1Axis= ADC(Pin(26))
button1=Pin(16, Pin.IN,Pin.PULL_UP)
Servo=PWM(Pin(17))
Servo.freq(50)

#create a continous loop that checks and  prints the value of x,y and button
while True:
    x1Value=int(x1Axis.read_u16()*180/65535) #Takes an analog reading and return an integer in the range 0-65535
    y1Value=int(y1Axis.read_u16()*180/65535)
    button1Value=button1.value() #value() is a class in Pin
    print("x-axis :" + str(x1Value))
    print("y-axis :" + str(y1Value))

    if button1Value==1:
        print("button not pressed")
        utime.sleep(0.2)
        
    else:
        print("button pressed")
        for i in range(2000000,1000000,-100000):
            Servo.duty_ns(i) 
            utime.sleep(0.2)
    
    if x1Value>40 and  x1Value<140 and y1Value>40 and y1Value<140:
            Servo.duty_ns(1500000) 
            utime.sleep(0.1)

    elif x1Value<40:
            for i in range(1500000,1000000,-100000):
                Servo.duty_ns(i) 
                utime.sleep(2)

    elif y1Value<40:
            for i in range(2000000,1500000,-5000):
                Servo.duty_ns(i) 
                utime.sleep(0.05)

    elif x1Value>140:
            for i in range(1000000,1500000,5000):
                Servo.duty_ns(i) 
                utime.sleep(0.05)

    elif y1Value>140:
            for i in range(1500000,2000000,100000):
                Servo.duty_ns(i) 
                utime.sleep(0.5)

#  MID TERM ASSIGNMENT
#  1) TYPE ALL THE FOLLOWING CODES LINE BY LINE ON THONNY IDE
#  2) WHAT ARE ACTUATORS USED FOR IN ROBOTICS?
#  3) MENTION THE FUNCTIONS OF THE PINS IN A JOYSTICK ?
#  4) MENTION THE FUNCTIONS OF THE PINS IN A SERVO MOTOR ?
#  5) WHAT IS THE FULL MEANING OF PWM?
#  6) WHAT IS THE FULL MEANING OF ADC?
#  7) WHY DO YOU SET FREQUENCY AND DUTY CYCLE FOR PWM SIGNALS?