from machine import Pin,PWM
import machine
import time
import utime
import _thread




# 初始化端口
pin19 = Pin(19, Pin.OUT, value=1)   # 电磁阀1
pin21 = Pin(21, Pin.OUT, value=1)   # 电磁阀2
pin18 = Pin(18, Pin.OUT, value=0)   # 皮带
pin25 = Pin(25, Pin.IN, machine.Pin.PULL_DOWN)             # 光电1
pin26 = Pin(26, Pin.IN,machine.Pin.PULL_DOWN)             # 光电2
a = 0
start = 0
b = 0
start2 = 0


def motor_task():
    pin18.value(1)
    time.sleep(5)
    pin18.value(0)



def count_on_pin25(p):
    global a
    global start
    end = utime.ticks_ms()
    utime.ticks_diff(end,start)
    if utime.ticks_diff(end,start)>100:
        a += 1
        print(a)
        start = end
    if utime.ticks_diff(end,start) < 100:
        start = end
    if a == 3:
        pin19.value(0)
    
def check_pin26(p):
    global a
    global b
    global start2

    end2 = utime.ticks_ms()
    if utime.ticks_diff(end2,start2) >100 and a>=10:
        pin19.value(1)
        pin21.value(0)
        time.sleep_ms(150)
        pin21.value(1)
        start2 = end2
        # asyncio.run(motor_task())
        _thread.start_new_thread(motor_task, ())
        a = 0
        print('hello')
        # motor = 1


       
if __name__ == '__main__':
    pin25.irq(trigger=Pin.IRQ_FALLING, handler=count_on_pin25)
    pin26.irq(trigger=Pin.IRQ_FALLING, handler=check_pin26)
    while True:
        pass