# 20260722
#https://wokwi.com/projects/380345349190727681

from machine import Pin, PWM, ADC
from time import sleep, sleep_us
#import _thread

#m1_dir_sensor = Pin(0, Pin.IN, Pin.PULL_UP)
m1_auto = Pin(0, Pin.IN, Pin.PULL_UP)       #manual/automatico motor1
#m2_auto = Pin(2, Pin.IN, Pin.PULL_UP)       #manual/automatico motor2
lm1_lejos = Pin(18, Pin.IN, Pin.PULL_UP)       #Limite de carrera 1 motor 1
lm1_cerca = Pin(19, Pin.IN, Pin.PULL_UP)       #Limite de carrera 2 motor 1
#lm2_lejos = Pin(21, Pin.IN, Pin.PULL_UP)       #Limite de carrera 1 motor 2
#lm2_cerca = Pin(22, Pin.IN, Pin.PULL_UP)       #Limite de carrera 2 motor 2
boton_iz = Pin(2, Pin.IN, Pin.PULL_UP)
boton_de = Pin(3, Pin.IN, Pin.PULL_UP)
#boton_ar = Pin(5, Pin.IN, Pin.PULL_UP)
#boton_ab = Pin(6, Pin.IN, Pin.PULL_UP)
led_iz = Pin(6, Pin.OUT)
led_de = Pin(7, Pin.OUT)
#led_ar = Pin(9, Pin.OUT)
#led_ab = Pin(10, Pin.OUT)
m1_dir = Pin(14, Pin.OUT)
m1_pul = Pin(15, Pin.OUT)
#m2_dir = Pin(17, Pin.OUT)
#m2_pul = Pin(18, Pin.OUT)
sensor_m1 = ADC(0)
sensor_m2 = ADC(1)
pot_veloc = ADC(2)

# Parametros de funcionamiento

rpm = 100
spv = 200                                             #Pasos por vuelta del motor
paso_rosca = 4                                        #Paso rosca del tornillo en mm
microstep = 4                                         # 1 = Full step, 2 = Half Step
                                                      # 4 = 1/4, 8 = 1/8, 16 = 1/16, 32 = 1/32

stepsxmm = spv * microstep / paso_rosca             #Calcula pasos/mm

def rpm_2_delay(rpm):
    global delay
    rev_por_seg = rpm / 60                            #Convierte RPM a Revs/Segundo
    steps_por_seg = spv * microstep * rev_por_seg    #Calcula pasos/Segundo
    delay = round((2 / steps_por_seg) * 1000000)    #Calcula pausa en microseconds
    return delay

def girar_m1():
    m1_pul.high()
    sleep_us(delay)
    m1_pul.low()
    sleep_us(delay)

def get_ADCh():
    global sensor_m1, def_h
    deform_h = sensor_m1.read_u16()     #Lee valor de sensor de desplazamiento
    def_h = round(deform_h / 6554, 1)     #Determina el desplazamiento de 0 a 10
    return(def_h)


while True:
    rpm_2_delay(rpm)

                                 ##   MODO MANUAL HORIZONTAL  ##
    while m1_auto.value() == True:

        while (boton_iz.value() == 0 and boton_de.value() == 1 and lm1_lejos.value() == 0):         #Pulsador izquierda
            m1_dir.low()
            led_iz.on()
            girar_m1()
        led_iz.off()

        while (boton_iz.value() == 0 and boton_de.value() == 1 and lm1_lejos.value() == 1):         #Pulsador izquierda + llega a lim izquierdo (lejos)
            led_iz.toggle()
            sleep(0.3)
        while (lm1_lejos.value() == 1 and (not (boton_iz.value() == 1 and boton_de.value() == 0))):    #Está en lim izq y no se pulsa a la derecha
            led_iz.toggle()
            sleep(0.3)
        led_iz.off()

        while (boton_iz.value() == 1 and boton_de.value() == 0 and lm1_cerca.value() == 0):         #Pulsador derecha
            m1_dir.high()
            led_de.on()
            girar_m1()
        led_de.off()

        while (boton_iz.value() == 1 and boton_de.value() == 0 and lm1_cerca.value() == 1):         #Pulsador derecha + llega a lim derecha (cerca)
            led_de.toggle()
            sleep(0.3)
        while (lm1_cerca.value() == 1 and (not (boton_iz.value() == 0 and boton_de.value() == 1))):    #Está en lim izq y no se pulsa a la derecha
            led_de.toggle()
            sleep(0.3)
        led_de.off()

    while m1_auto.value() == False:

        get_ADCh()
        print(def_h)
        while (def_h >=5 and lm1_lejos.value() == 0 and m1_auto.value() == False):    #Aleja si la distancia es menor a la minima
            m1_dir.low()
            led_iz.on()
            girar_m1()
            get_ADCh()
        led_iz.off()

        while (lm1_lejos.value() == 1 and m1_auto.value() == False):
            led_iz.toggle()
            sleep(0.3)

        while (def_h <3 and lm1_cerca.value() == 0 and m1_auto.value() == False):    #Acerca si la distancia es mayor a la maxima
            m1_dir.high()
            led_de.on()
            girar_m1()
            get_ADCh()
        led_de.off()

        while (lm1_cerca.value() == 1 and m1_auto.value() == False):
            led_de.toggle()
            sleep(0.3)