from machine import Pin, PWM, I2C, ADC
import ssd1306
import time


#configuration du I2C
i2c = I2C(0, sda=Pin(8), scl=Pin(9))
display = ssd1306.SSD1306_I2C(128, 64, i2c) # create SSD1306 object

#configuration moteur DC
motor=0
EN= PWM(Pin(16))
EN.freq(15000)
in1= Pin(14, Pin.OUT)
in2= Pin(15, Pin.OUT)

#configuration du Servo
servo=PWM(Pin(17))
servo.freq(50)

#configuration du potentiometre
pot = ADC(Pin(26))

#configuration joystick
stick = ADC(Pin(27))
button= Pin(10, Pin.IN, Pin.PULL_UP)
button_memory = 0

#configurration des leds (j'ai perdu mon rgb désolé)
rouge=PWM(Pin(12))
rouge.freq(50)
vert=PWM(Pin(11))
vert.freq(50)
bleu=PWM(Pin(13))
bleu.freq(50)

while 1:
    #Code bascuelemnt entre l'état d'arrêt et l'état de marche du moteur
    if button_memory != button.value() and not button.value():
        if motor == 0:
            motor = 1
        elif motor == 1:
            motor = 0
    button_memory =  button.value()
    
    if motor:             #Si la variable moteur est égale à un, le moteur tourne
        in1.high()
        in2.low()
    else:
        in1.low()
        in2.low()
    
    stick_value=stick.read_u16()
    if stick_value > 60000:
        EN.duty_u16(65535)
    else:
        EN.duty_u16(0)
        
        
    angle=180*pot.read_u16()/65535
    duty = int((34*angle)+1000)
    servo.duty_u16(duty)
    
    print("Angle Potentio & Servo :",int(angle),"degres")
    print("Joystick :", stick_value)
    print("Button :",button.value())
    print("Moteur :",motor)
    print()
    
    #Configuration affichage de l'OLED
    display.fill(0)
    display.text("Servo angle:"+str(int(angle)), 0, 0)
    if motor:
        display.text("Motor ON", 0, 10)
        if stick_value > 60000:
           display.text("Forward", 0, 20) 
        elif stick_value < 10000:
            display.text("Backward", 0, 20) 
        else: 
            display.text("Stop", 0, 20) 
    else:
        display.text("Motor OFF",0,10)
    display.show()
    
    #Activation des LED avec le potentiomètre
    if angle < 60:
        rouge.duty_u16(65535)
        vert.duty_u16(0)
        bleu.duty_u16(0)
    elif 60 < angle < 120:
        rouge.duty_u16(65535)
        bleu.duty_u16(0)
        vert.duty_u16(65535)
    else:
        rouge.duty_u16(0)
        bleu.duty_u16(0)
        vert.duty_u16(65535)
    time.sleep(0.02)