#Smart dustbin
#Open the dustbin if the dustbin is still empty and there's a trash to throw.
#Close and display "FULL" if the dustbin is full.
#The height of the dustbin is 50cm.
#The distance between the trash and the dustbin should be 40cm to open the dustbin in case it's empty.
from machine import Pin, PWM
import utime

LedRed = Pin(0, Pin.OUT)
LedGreen = Pin(1, Pin.OUT)

trig1 = Pin(19, Pin.OUT)
echo1 = Pin(20, Pin.IN)

trig2 = Pin(21, Pin.OUT)
echo2 = Pin(22, Pin.IN)

servo = PWM(Pin(14))
servo.freq(50) #Servo motor's frequency is 50Hz

SegG1 = Pin(2, Pin.OUT)
segF1= Pin(3, Pin.OUT)
segA1= Pin(4, Pin.OUT)
segE1= Pin(5, Pin.OUT)

segF2= Pin(6, Pin.OUT)
segE2= Pin(7, Pin.OUT)
segD2= Pin(8, Pin.OUT)
segC2= Pin(9, Pin.OUT)
segB2= Pin(10, Pin.OUT)

segF3= Pin(11, Pin.OUT)
segE3= Pin(12, Pin.OUT)
segD3= Pin(13, Pin.OUT)

segF4= Pin(16, Pin.OUT)
segE4= Pin(17, Pin.OUT)
segD4= Pin(18, Pin.OUT)


#Display's functions:
def F(): # Display F on seven segment 1
    SegG1.off()
    segF1.off()
    segA1.off()
    segE1.off()

def U(): # Display U on seven segment 2
    segF2.off()
    segE2.off()
    segD2.off()
    segC2.off()
    segB2.off()

def L1(): # Display L on seven segment 3
    segF3.off()
    segE3.off()
    segD3.off()

def L2():
    segF4.off()
    segE4.off()
    segD4.off()

def Fx(): # hide F 
    SegG1.on()
    segF1.on()
    segA1.on()
    segE1.on()

def Ux(): #hide U
    segF2.on()
    segE2.on()
    segD2.on()
    segC2.on()
    segB2.on()

def L1x(): #hide L
    segF3.on()
    segE3.on()
    segD3.on()

def L2x():
    segF4.on()
    segE4.on()
    segD4.on()

#The ultrasonic1 measures the distance between already existing trash in the dustbin and the roof of the dustbin.
#This ultrasonic1 is placed on the roof of the dustbin.
def ultrasonic1():
    Ton1= Toff1 = t1 =0
    distance1 = 0
    trig1.off()
    trig1.on()
    utime.sleep_us(10)
    trig1.off()

    while(echo1.value()==0):
        Toff1=utime.ticks_us()

    while(echo1.value()==1):
        Ton1= utime.ticks_us()

    t1= (Ton1 - Toff1)/2 # t1 is the duration related to the distance1 which is the distance between the trash and the roof of the dustbin.

    distance1= int(t1 * 0.034) # 0.034 is the speed of sound.

    return(distance1)

#The ultrasonic2 measures the distance between the person that will throw the trash and the dustbin.
#This ultrasonic2 is placed in the front of the dustbin.
def ultrasonic2():
    Ton2= Toff2 = t2 =0
    distance2 = 0
    trig2.off()
    trig2.on()
    utime.sleep_us(10)
    trig2.off()

    while(echo2.value()==0):
        Toff2=utime.ticks_us()

    while(echo2.value()==1):
        Ton2= utime.ticks_us()

    t2= (Ton2 - Toff2)/2 # t2 is the duration related to the distance2 which is the distance between the person with the trash and the dustbin.

    distance2= int(t2 * 0.034) # 0.034 is the speed of sound.

    return(distance2)


def map(value, inMin , inMax , outMin , outMax):
    value = max(inMin , min(inMax ,value))
    return(value- inMin) * (outMax-outMin) /(inMax - inMin) + outMin

#Rotate() closes or opens the dustbin, depending on the case.
def rotate(angle):
    servo.duty_u16(int(map(angle , 0 , 180, 1500 , 8000 )))
    utime.sleep(1)

#The distance between the person and the dustbin is 40cm in order to open the dustbin. 
while True:
    d1=d2 = 0

    d1= ultrasonic1()
    d2= ultrasonic2()

    if(d2<=5): # the dustbin is FULL.
        F()
        U()
        L1()
        L2()
        LedRed.on()
        LedGreen.off()
        rotate(0)
        utime.sleep_ms(70)
    elif(d1 <= 40 )and( 5<d2<=50 ): #The dustbin is empty.
        Fx()
        Ux()
        L1x()
        L2x()
        LedRed.off()
        LedGreen.on()
        rotate(90)
        utime.sleep(1) #The dustbin will be opened for 1s.
        rotate(0)
        utime.sleep_ms(70)
    else:
        Fx()
        Ux()
        L1x()
        L2x()
        LedGreen.on()
        LedRed.off()
        rotate(0)
        utime.sleep_ms(70)