from machine import Pin, PWM
import utime

# Define pin constants
STEP_PIN = 9
DIR_PIN = 4
TRIG_PIN = 27
ECHO_PIN = 26
LED_PIN = 5


# Initialize pins
step = Pin(STEP_PIN, Pin.OUT)
dir = Pin(DIR_PIN, Pin.OUT)
trig = Pin(TRIG_PIN, Pin.OUT)
echo = Pin(ECHO_PIN, Pin.IN)
led = Pin(LED_PIN)

# Define constants
FULL_ROTATION_STEPS = 200  # Change this to the number of steps required for a full rotation
DISTANCE_THRESHOLD = 200  # Distance threshold in mm

# Function to trigger the ultrasonic sensor
def trigger_ultrasonic():
    trig.high()
    utime.sleep_us(10)
    trig.low()

# Function to measure distance from ultrasonic sensor
def measure_distance():
    trigger_ultrasonic()
    pulse_time = pulse_in(echo, 1)
    distance = (pulse_time * 34300) / 2 / 1000000  # Convert pulse time to distance in mm
    return distance

# Function to perform pulse in measurement
def pulse_in(pin, value, timeout_ms=500):
    start = utime.ticks_us()
    while pin.value() != value:
        if utime.ticks_diff(utime.ticks_us(), start) > timeout_ms * 1000:
            return 0
    start = utime.ticks_us()
    while pin.value() == value:
        if utime.ticks_diff(utime.ticks_us(), start) > timeout_ms * 1000:
            return 0
    return utime.ticks_diff(utime.ticks_us(), start)

# Function to rotate stepper motor
def rotate_stepper(steps, direction):
    dir.value(direction)
    for _ in range(steps):
        step.high()
        utime.sleep_us(500)  # Adjust this delay as needed for your stepper motor
        step.low()
        utime.sleep_ms(10)  # Adjust this delay as needed for your stepper motor

# Main loop
while True:
    distance = measure_distance()
    if distance > DISTANCE_THRESHOLD:
        led.on()  # Turn on the LED
    else:
        led.off()  # Turn off the LED

    rotate_stepper(FULL_ROTATION_STEPS, 1)  # Rotate clockwise