print("Hello, ultrasonic!")
print('date:27/11/2023')
print('by: MAHS')

#import all necessary libraries
import library_ultrasonic
from machine import Pin, PWM
from utime import sleep
import servolibrary

#declare pin
trig = Pin(25, Pin.IN)
echo = Pin(27, Pin.OUT)
servo = Pin(23)
buzzer = Pin(18, Pin.OUT)

#create the object name for sensor with library --> libraryname.classname()
sensor_jarak = library_ultrasonic.HCSR04(trigger_pin=trig, echo_pin=echo)
autogate = servolibrary.Servo(pin=servo)

# main program
while True:
    print('\n===== MEH CHECK INCOMING DISTANCE=====\n')
    distance_in_mm = sensor_jarak.distance_mm()
    print('An incoming object is at : ', distance_in_mm, 'mm')
    distance_in_cm = sensor_jarak.distance_cm()
    print('An incoming object is at : ', distance_in_cm, 'cm')

    if distance_in_cm <= 100:
        # palang buka, kete datang
        autogate.move(0)
        sleep(5)
        autogate.move(90)
        sleep(5)
        autogate.move(0)
        sleep(5)
        
        # Sound the buzzer
        for b in range(3):
            buzz_buzzer = PWM(buzzer, freq = 1500,duty = 50)
            sleep(0.3)
            buzz_buzzer = PWM(buzzer, freq = 1500,duty = 0)
            sleep(0.3)

        break
        # Turn ON the buzzer
                # Buzzer ON for 2 seconds (adjust as needed)
        # Turn OFF the buzzer

    else:
        autogate.move(0)

  #servo motor part
    # autogate.move(0)
    # sleep(2)
    # autogate.move(45)
    # sleep(1)
    # autogate.move(75)
    # sleep(1.25)
    # autogate.move(120)
    # sleep(1.25)
    # autogate.move(145)
    # sleep(1.25)
    # autogate.move(180)
    sleep(1.25)




    sleep(2.5) #in every 2.5 sec, ultrasonic will sense new incoming distance