import machine
import utime

DIR_PIN = machine.Pin(2, machine.Pin.OUT)
STEP_PIN = machine.Pin(3, machine.Pin.OUT)

def forward(dist):
  DIR_PIN.high()
  for i in range(dist):
      STEP_PIN.high()
      STEP_PIN.low()
      utime.sleep_ms(1)

def backward(dist):
  DIR_PIN.low()
  for i in range(dist):
      STEP_PIN.high()
      STEP_PIN.low()
      utime.sleep_ms(2)

def setup():
    STEP_PIN.low()


def loop():
    # Move 200 steps (one rotation) CW over one second
    forward()
    # backward(i)


servo_pin = machine.Pin(17, machine.Pin.OUT)
pwm = machine.PWM(servo_pin)
pwm.freq(50)

def set_angle(angle):
    duty_cycle = 5000 + (10000 / 180 * angle)
    pwm.duty_u16(int(duty_cycle))

def left():
    for angle in range(0, 91, 10):
        set_angle(angle)
        utime.sleep_ms(500)

def right():
    for angle in range(90, -1, -10):
        set_angle(angle)
        utime.sleep_ms(500)

setup()
while True:
    dist = int(input("Distance : "))
    i = int(input("1(Forward) / 0(Backward) : "))
    if i == 1 : forward(dist)
    else : backward(dist)
    dire = (input("Direction : (l/r) : "))
    if dire == 'l' : left()
    else : right()