import time
from machine import Pin
from time import sleep_us,sleep,ticks_us

class Steppper_Motor:
    
    def _init_(self,dir_pin,step_pin,trig_pin,echo_pin,rled_pin,yled_pin,gled_pin):
        self.dire=Pin(dir_pin,Pin.OUT)
        self.step=Pin(step_pin,Pin.OUT)
        self.trig=Pin(trig_pin,Pin.OUT)
        self.echo=Pin(echo_pin,Pin.IN)
        self.rled=Pin(rled_pin,Pin.OUT)
        self.yled=Pin(yled_pin,Pin.OUT)
        self.gled=Pin(gled_pin,Pin.OUT)
        
    
    def start_stepper(self,direction,step,delay):
        self.dire.value(direction)
        steps=abs(step)
        for i in range (steps):
            self.step.value(1)
            sleep_us(delay)
            self.step.value(0)
            sleep_us(delay)


    def distance(self):
        self.trig.value(0)
        sleep_us(2)
        self.trig.value(1)
        sleep_us(5)
        self.trig.value(0)
        signalon=0
        signaloff=0
        while self.echo.value()==0:
            signaloff=ticks_us()

        while self.echo.value()==1:
            signalon=ticks_us()
    
        time=signalon-signaloff
        dist=(time*0.03405)/2
        print(dist)
        return dist
    
    def led_on(self,red,yellow,green):
        self.rled.value(red)
        self.gled.value(green)
        self.yled.value(yellow)
# max 400

while True:
    stepper=Steppper_Motor(dir_pin=5,step_pin=18,trig_pin=26,echo_pin=25,rled_pin=12,yled_pin=14,gled_pin=27)
    stepper.distance()
    if(stepper.distance()>=350):
        stepper.led_on(1,0,0)
        stepper.start_stepper(1,200,1000)
    if(stepper.distance()<300 and stepper.distance()>100):
        stepper.led_on(0,1,0)
        stepper.start_stepper(1,200,1000)    
    if(stepper.distance()<=50):
        stepper.led_on(0,0,1)
        stepper.start_stepper(1,0,1000)
    else:
        stepper.led_on(0,0,0)