from machine import Pin, PWM, I2C
import utime
import lcd_api
import i2c_lcd

class Servo:
    MAX_DUTY_CYCLE = 2**16 - 1  # largest unsigned int (65535)
    SLEEP_PERIOD_IN_SECONDS = 2
    MILLISECONDS_PER_SECOND = 1000
    SERVO_PERIOD_IN_MILLISECONDS = 20
    SERVO_FREQUENCY = int(MILLISECONDS_PER_SECOND / SERVO_PERIOD_IN_MILLISECONDS)
    SERVO_RIGHT_TURN_DUTY = 0.5  # Set duty to 0.5 milliseconds
    SERVO_GO_STRAIGHT_DUTY = 1.5  # Set duty to 1.5 milliseconds
    SERVO_LEFT_TURN_DUTY = 2.5  # Set duty to 2.5 milliseconds

    SERVO_0_ANGLE = 0  # servo angle for 0 degrees
    SERVO_90_ANGLE = 90  # servo angle for 90 degrees
    SERVO_180_ANGLE = 180  # servo angle for 180 degrees

    def __init__(self, pin, frequency=50):
        self.pwm_pin = PWM(pin)  # initialize PWM pin for servo control
        self.pwm_pin.freq(frequency)  # set PWM frequency
        self.duty_cycle = 0  # initialize duty cycle value to 0

    def set_position_by_angle(self, angle):
        self.angle = angle  # angle is set
        # calculate the duty cycle percentage by the angle
        self.duty_cycle_percentage = (
            ((angle / 180.0) * (Servo.SERVO_LEFT_TURN_DUTY - Servo.SERVO_RIGHT_TURN_DUTY) + Servo.SERVO_RIGHT_TURN_DUTY)
            / Servo.SERVO_PERIOD_IN_MILLISECONDS
            * 100
        )
        # calculate duty value
        self.duty_cycle = Servo.MAX_DUTY_CYCLE * (self.duty_cycle_percentage / 100)
        # set PWM duty cycle
        self.pwm_pin.duty_u16(int(self.duty_cycle))

    def print_settings(self):
        # print the servo settings
        print("Servo PWM Frequency: " + str(Servo.SERVO_FREQUENCY))
        print("Servo PWM Period (milliseconds): " + str(Servo.SERVO_PERIOD_IN_MILLISECONDS))
        print("Duty/Period percentage: " + str(self.duty_cycle_percentage))
        print("Duty value (1:65535): " + str(self.duty_cycle))
        print("\n")
        utime.sleep(Servo.SLEEP_PERIOD_IN_SECONDS)

# Setup for the I2C LCD
i2c = I2C(0, sda=Pin(4), scl=Pin(5), freq=400000)
lcd = i2c_lcd.I2cLcd(i2c, 0x27, 2, 16)

# servo is set to pin 1
servo = Servo(Pin(1), Servo.SERVO_FREQUENCY)

def save_values(file_path):
    with open(file_path, 'r') as file:  # reads the file
        for line in file:
            direction, time_in_seconds = line.strip().split(',')  # splits the direction and time in seconds with a comma
            direction = int(direction)
            time_in_seconds = int(time_in_seconds)
            print(direction, ",", time_in_seconds)  # prints the direction and time in seconds
            servo.set_position_by_angle(direction)  # set position to its proper angle
            servo.print_settings()
            # Display on LCD
            lcd.clear()
            lcd.putstr(f"Dir: {direction}\nTime: {time_in_seconds}")
            utime.sleep(time_in_seconds)
    file.close()  # closes the file

# File path to your records
file_path = "values.txt"  # saves the code to the file path
save_values(file_path)