from machine import*
from time import*
import machine  ,time
__version__ = '0.2.0'
__author__ = 'Roberto Sánchez'
__license__ = "Apache License 2.0. https://www.apache.org/licenses/LICENSE-2.0"

class HCSR04:
    """
    Driver to use the untrasonic sensor HC-SR04.
    The sensor range is between 2cm and 4m.
    The timeouts received listening to echo pin are converted to OSError('Out of range')
    """
    # echo_timeout_us is based in chip range limit (400cm)
    def __init__(self, trigger_pin, echo_pin, echo_timeout_us=500*2*30):
        """
        trigger_pin: Output pin to send pulses
        echo_pin: Readonly pin to measure the distance. The pin should be protected with 1k resistor
        echo_timeout_us: Timeout in microseconds to listen to echo pin. 
        By default is based in sensor limit range (4m)
        """
        self.echo_timeout_us = echo_timeout_us
        # Init trigger pin (out)
        self.trigger = Pin(trigger_pin, mode=Pin.OUT, pull=None)
        self.trigger.value(0)

        # Init echo pin (in)
        self.echo = Pin(echo_pin, mode=Pin.IN, pull=None)

    def _send_pulse_and_wait(self):
        """
        Send the pulse to trigger and listen on echo pin.
        We use the method `machine.time_pulse_us()` to get the microseconds until the echo is received.
        """
        self.trigger.value(0) # Stabilize the sensor
        time.sleep_us(5)
        self.trigger.value(1)
        # Send a 10us pulse.
        time.sleep_us(10)
        self.trigger.value(0)
        try:
            pulse_time = machine.time_pulse_us(self.echo, 1, self.echo_timeout_us)
            return pulse_time
        except OSError as ex:
            if ex.args[0] == 110: # 110 = ETIMEDOUT
                raise OSError('Out of range')
            raise ex

    def distance_mm(self):
        """
        Get the distance in milimeters without floating point operations.
        """
        pulse_time = self._send_pulse_and_wait()

        # To calculate the distance we get the pulse_time and divide it by 2 
        # (the pulse walk the distance twice) and by 29.1 becasue
        # the sound speed on air (343.2 m/s), that It's equivalent to
        # 0.34320 mm/us that is 1mm each 2.91us
        # pulse_time // 2 // 2.91 -> pulse_time // 5.82 -> pulse_time * 100 // 582 
        mm = pulse_time * 100 // 582
        return mm

    def distance_cm(self):
        """
        Get the distance in centimeters with floating point operations.
        It returns a float
        """
        pulse_time = self._send_pulse_and_wait()

        # To calculate the distance we get the pulse_time and divide it by 2 
        # (the pulse walk the distance twice) and by 29.1 becasue
        # the sound speed on air (343.2 m/s), that It's equivalent to
        # 0.034320 cm/us that is 1cm each 29.1us
        cms = (pulse_time / 2) / 29.1
        return cms
rv=Pin(12,Pin.OUT)
o=Pin(14,Pin.OUT)
vv=Pin(27,Pin.OUT)
rt=Pin(18,Pin.OUT)
b=Pin(19,Pin.OUT)
rp=Pin(33,Pin.OUT)
vp=Pin(25,Pin.OUT)
ht=HCSR04(trigger_pin=16, echo_pin=15, echo_timeout_us=500*2*30)
hp=HCSR04(trigger_pin=22,echo_pin=23, echo_timeout_us=500*2*30)
s=PWM(Pin(13,mode=Pin.OUT))
s.freq(50)
while True:
    dt=ht.distance_cm()
    dp=hp.distance_cm()
    print(dt,dp)
    print (dt)
    print (dp)
    if dt<=100:
        rv.on()
        rp.on()
        vp.off()
        s.duty(75)
        for i in range(5): 
            rt.off()
            sleep(0.2) 
            rt.on()
            sleep(0.2)
            b.on()
            sleep (0.2) 
            b.off()
            sleep (0.2)   
    else:
        s.duty(27)    
        if dp<=10:
            vp.on()
            rp.off()
            rv.on()
        else: 
            rp.on()
            vp.off() 
            vv.on()
            sleep(1)
            vv.off()          
            for i in range(3):
                o.on()
                sleep(0.2)
                o.off()
                sleep(0.2)
            rv.on()
            sleep(1)
            rv.off()