from machine import Pin, PWM, ADC, I2C
from utime import sleep
from lcd_api import LcdApi
from pico_i2c_lcd import I2cLcd
import dht
import utime

# Initialize I2C for LCD
I2C_ADDR = 0x27
I2C_NUM_ROWS = 2
I2C_NUM_COLS = 16
i2c = I2C(0, sda=Pin(0), scl=Pin(1), freq=400000)
lcd = I2cLcd(i2c, I2C_ADDR, I2C_NUM_ROWS, I2C_NUM_COLS)
lcd.backlight_on()

# Initialize LDR sensor
LDR = ADC(28)
pwm = PWM(Pin(15))
pwm.freq(1000)

# Initialize ultrasonic sensor pins
TRIGGER_PIN = Pin(3, Pin.OUT)
ECHO_PIN = Pin(4, Pin.IN)

# Initialize motion sensor pin
MOTION_PIN = Pin(16, Pin.IN)

# Initialize LED pin
LED = Pin(2, Pin.OUT)

# Initialize DHT sensor
sensor = dht.DHT22(Pin(5))

# Initialize servo motor on pin 14
servo_pin = PWM(Pin(15))
servo_pin.freq(50)  # 50 Hz for servo motor

def set_servo_angle(angle):
    min_duty = 1000  # Corresponds to 0.5ms
    max_duty = 9000  # Corresponds to 2.5ms
    duty = int(min_duty + (max_duty - min_duty) * (angle / 180.0))
    servo_pin.duty_u16(duty * 65535 // 10000)
    print(f"Servo angle set to {angle} degrees with duty {duty}")

def distance():
    TRIGGER_PIN.on()
    sleep(0.00001)
    TRIGGER_PIN.off()
    while not ECHO_PIN.value():
        pass
    pulse_start = utime.ticks_us()
    while ECHO_PIN.value():
        pass
    pulse_end = utime.ticks_us()
    pulse_duration = utime.ticks_diff(pulse_end, pulse_start)
    distance_cm = pulse_duration / 58.0
    return distance_cm

def ledBlink():
    LED.on()
    sleep(5)
    LED.off()
    sleep(5)

while True:
    try:
        # Measure temperature and humidity
        sensor.measure()
        lcd.clear()
        lcd.putstr(f"Temp: {sensor.temperature():.1f}C")
        lcd.move_to(0, 1)
        lcd.putstr(f"Humidity: {sensor.humidity():.1f}%")
        sleep(5)
        
        # Measure distance
        dist = distance()
        lcd.clear()
        lcd.putstr(f"Distance: {dist:.2f} cm")
        print(f"Distance measured: {dist:.2f} cm")
        
        # Control the servo based on distance
        if dist <= 20:
            set_servo_angle(0)
          # Open the servo
        else:
            set_servo_angle(90)   # Close the servo
        
        sleep(5)
        
        # Measure light intensity
        value = LDR.read_u16()
        lcd.clear()
        lcd.putstr("Light Intensity: {}".format(value))
        pwm.duty_u16(value)
        if value < 5000:
            print("Light intensity: low")
        elif value > 5000:
            print("Light intensity: better")
        sleep(5)
        
        # Detect motion
        lcd.clear()
        if MOTION_PIN.value():
            lcd.putstr("Motion Detected")
            print("Motion detected")
        else:
            lcd.putstr("No Motion")
            print("No motion detected")
        sleep(5)
        
    except OSError as e:
        lcd.clear()
        lcd.putstr('Failed reception')
        print(f"Error: {e}")
        sleep(5)