from machine import Pin, SoftI2C, ADC, PWM
from time import sleep

from servo import Servo
from hc import HCSR04
from lcd_api import LcdApi
from i2c_lcd import I2cLcd

servoPin = Servo(pin=26)

I2C_ADDR = 0x27
totalRows = 2
totalColumns = 16

i2c = SoftI2C(scl=Pin(22), sda=Pin(21), freq=10000)     #initializing the I2C method for ESP32
lcd = I2cLcd(i2c, I2C_ADDR, totalRows, totalColumns)

sensor = HCSR04(trigger_pin=27, echo_pin=26,echo_timeout_us=1000000)

while True:
    distance = sensor.distance_cm()
    print(distance)

    lcd.move_to(0, 0)
    lcd.putstr("Distance:")
    lcd.move_to(0, 1)
    lcd.putstr("{:.2f} cm".format(distance))
    servoPin.move(170)
    sleep(1)
    servoPin.move(100)
    sleep(1)