import machine
from machine import Pin, Timer
import time
from time import sleep

# Configuración del motor paso a paso
QB0 = Pin(13, Pin.OUT)
QB1 = Pin(9, Pin.OUT)
QA0 = Pin(10, Pin.OUT)
QA1 = Pin(11, Pin.OUT)

WB0 = Pin(26, Pin.OUT)
WB1 = Pin(27, Pin.OUT)
WA0 = Pin(14, Pin.OUT)
WA1 = Pin(12, Pin.OUT)

EB0 = Pin(21, Pin.OUT)
EB1 = Pin(22, Pin.OUT)
EA0 = Pin(23, Pin.OUT)
EA1 = Pin(32, Pin.OUT)

RB0 = Pin(17, Pin.OUT)
RB1 = Pin(5, Pin.OUT)
RA0 = Pin(18, Pin.OUT)
RA1 = Pin(19, Pin.OUT)

step_sequence = [
    [1, 0, 1, 0],
    [0, 1, 1, 0],
    [0, 1, 0, 1],
    [1, 0, 0, 1]
]

def set_stepQ(pins):
    QB0.value(pins[0])
    QB1.value(pins[1])
    QA0.value(pins[2])
    QA1.value(pins[3])

def set_stepW(pins):
    WB0.value(pins[0])
    WB1.value(pins[1])
    WA0.value(pins[2])
    WA1.value(pins[3])

def set_stepE(pins):
    EB0.value(pins[0])
    EB1.value(pins[1])
    EA0.value(pins[2])
    EA1.value(pins[3])

def set_stepR(pins):
    RB0.value(pins[0])
    RB1.value(pins[1])
    RA0.value(pins[2])
    RA1.value(pins[3])

def step_motor(steps, delay=0.01):
    step_count = len(step_sequence)
    step_dir = 1 if steps > 0 else -1
    steps = abs(steps)
    
    for _ in range(steps):
        for step in step_sequence[::step_dir]:
            set_stepQ(step)
            set_stepW(step)
            set_stepE(step)
            set_stepR(step)
            time.sleep(delay) 

def step_motorQ(steps, delay=0.01):
    step_count = len(step_sequence)
    step_dir = 1 if steps > 0 else -1
    steps = abs(steps)
    
    for _ in range(steps):
        for step in step_sequence[::step_dir]:
            set_stepQ(step)
            time.sleep(delay)

def step_motorW(steps, delay=0.01):
    step_count = len(step_sequence)
    step_dir = 1 if steps > 0 else -1
    steps = abs(steps)
    
    for _ in range(steps):
        for step in step_sequence[::step_dir]:
            set_stepW(step)
            time.sleep(delay)

def step_motorE(steps, delay=0.01):
    step_count = len(step_sequence)
    step_dir = 1 if steps > 0 else -1
    steps = abs(steps)
    
    for _ in range(steps):
        for step in step_sequence[::step_dir]:
            set_stepE(step)
            time.sleep(delay)

def step_motorR(steps, delay=0.01):
    step_count = len(step_sequence)
    step_dir = 1 if steps > 0 else -1
    steps = abs(steps)
    
    for _ in range(steps):
        for step in step_sequence[::step_dir]:
            set_stepR(step)
            time.sleep(delay)


Key_Up = const(0)
Key_Down = const(1)

Numpad = [
    ['1', '2', '3'],
    ['4', '5', '6'],
    ['7', '8', '9'],
    ['*', '0', '#']]

Rows = [16, 4, 0, 2]
Cols = [15, 8, 7]

pines_Rows = [Pin(pin_name, mode = Pin.OUT) for pin_name in Rows]

pines_Cols = [Pin(pin_name, mode = Pin.IN, pull = Pin.PULL_DOWN) for pin_name in Cols]

def Start():
    for Row in range(0, 4):
        for Col in range(0, 3):
            pines_Rows[Row].value(0)

def Scan(Row, Col):
    #Escaneo de teclado
    pines_Rows[Row].value(1)
    key = None

    if pines_Cols[Col].value() == Key_Down:
        key = Key_Down

    if pines_Cols[Col].value() == Key_Up:
        key = Key_Up

    pines_Rows[Row].value(0)

    return key

State = 0
Imput = 0

def FSM(State, Imput):
    if State == 0 and Imput == 1:
        return 1

    if State == 1 and Imput == 1:
        return 2

    if State == 2 and Imput == 1:
        return 3

    if State == 3 and Imput == 1:
        return 4

    if State == 4 and Imput == 1:
        return 5
    
    if State == 5 and Imput == 1:
        return 6
    
    return 0
    
def Data(State, last_key_press):
    if State == 0 and last_key_press == '*':
        return 1

    if State == 1 and last_key_press == '1':
        return 1

    if State == 2 and last_key_press == '2':
        return 1

    if State == 3 and last_key_press == '1':
        return 1

    if State == 4 and last_key_press == '2':
        return 1

    if State == 5 and last_key_press == '#':
        return 1
    
    return 0

Motion = Pin(25, Pin.IN, Pin.PULL_UP)
Buzzer = Pin(33, Pin.OUT)

cont = 0

print("iniciando .............Presione una tecla:")
    
Start()

while True:
    Sensor = Motion.value() #or 1

    if Sensor:
        for Row in range(4):
            for Col in range(3):
                Key = Scan(Row, Col)
                if Key == Key_Down:
                    last_key_press = Numpad[Row][Col]

                    if last_key_press == '#':
                        cont = cont + 1

                    Imput = Data(State, last_key_press)
                    State = FSM(State, Imput)

                    if State == 6:
                        cont = 0
                        print("LA PUERTA SE ESTA ABRIENDO...")
                        step_motorQ(150)
                        print("25%")
                        step_motorW(150)
                        print("50%")
                        step_motorE(150)
                        print("75%")
                        step_motorR(150)
                        print("100%")
                        sleep(0.2)
                        print("PUERTA ABIERTA")
                        sleep(15)
                        print("LA PUERTA COMENZARA A CERRARSE EN:")
                        sleep(0.2)
                        print("5")
                        sleep(1)
                        print("4")
                        sleep(1)
                        print("3")
                        sleep(1)
                        print("2")
                        sleep(1)
                        print("1")
                        sleep(1)
                        step_motor(-150)
                        print("PUERTA CERRADA") 
                        State = 0
                    sleep(0.2)
    
    while cont > 2:
        Buzzer.value(1)
        Buzzer.value(0)