# IMPORTS
from machine import Pin
import time
import network
import socket

# CONSTANTS
DIR_PIN_M1 = 1
STEP_PIN_M1 = 2
DIR_PIN_M2 = 4
STEP_PIN_M2 = 5

BUTTON_ONE_PIN = 7
BUTTON_TWO_PIN = 10
LED_PIN = 21

TIME_BETWEEN_STEPS = 0.005  # 5 ms

SSID = 'your_SSID'  # Replace with your SSID
PASSWORD = 'your_password'  # Replace with your network password

def connect_to_wlan(ssid, password):
    wlan = network.WLAN(network.STA_IF)  # Create a WLAN station object
    wlan.active(True)  # Activate the interface

    if not wlan.isconnected():
        print('Connecting to network...')
        wlan.connect(ssid, password)

        # Wait for connection with a timeout
        timeout = 10  # seconds
        start = time.time()
        while not wlan.isconnected() and (time.time() - start) < timeout:
            time.sleep(1)

    if wlan.isconnected():
        print('Network connected!')
        print('IP address:', wlan.ifconfig()[0])
    else:
        print('Failed to connect to the network.')

def listen_for_data(port=12345):
    # Create a socket
    addr = socket.getaddrinfo('0.0.0.0', port)[0][-1]
    s = socket.socket()
    s.bind(addr)
    s.listen(1)
    print('Listening on', addr)

    while True:
        cl, addr = s.accept()
        print('Client connected from', addr)
        data = cl.recv(1024)  # Receive data (up to 1024 bytes)
        cl.close()
        return data.decode('utf-8')

class STEPPER:
    def __init__(self, dir_pin, step_pin, steps_one_length=200):
        self.dir_pin = Pin(dir_pin, Pin.OUT)
        self.step_pin = Pin(step_pin, Pin.OUT)
        self.steps_one_length = steps_one_length
        self.current_pos = 0
        self.step_pin.value(0)  # Initial state
        self.time_between_steps = TIME_BETWEEN_STEPS

    def move_steps(self, steps):
        for _ in range(int(steps)):
            self.step_pin.value(1)
            time.sleep(self.time_between_steps)  # 5 ms * 200 = 1 second
            self.step_pin.value(0)
            time.sleep(self.time_between_steps)  # Adding delay here to ensure a proper step pulse

    def move_to_new_position(self, target):
        if target < 0 or target > 100:
            print("Invalid input! Please use numbers between 0% and 100%.")
            return
        
        # calculate the delta between current position and desired position
        des_steps = (target / 100.0) * self.steps_one_length      
        diff = des_steps - self.current_pos

        # check if target is current position
        if diff == 0:
            print("No Position change needed. Current position is the target position!")
            return

        # determine the direction and move
        if diff > 0:
            self.dir_pin.value(0)
            print("MOVING DOWN!")
        else:
            self.dir_pin.value(1)
            print("MOVING UP!")
            diff = -diff  # Make diff positive for the loop

        self.move_steps(diff)
        self.current_pos = des_steps  # Update the current position to the new position
        print("New Position:", self.current_pos)
    
    def setup(self, B1=None, B2=None):
        if B1 is None or B2 is None:
            raise ValueError("Button pins B1 and B2 must be provided for setup.")
        
        print("SETUP")
        
        steps = 0
        self.dir_pin.value(1)
        while B1.value() == 1:
            self.move_steps(1)
            steps += 1
        upper_limit = steps
        print("Upper limit:", upper_limit)

        steps = 0
        self.dir_pin.value(0)
        while B2.value() == 1:
            self.move_steps(1)
            steps += 1
        lower_limit = steps - upper_limit
        print("Lower limit:", lower_limit)

        self.steps_one_length = steps

        self.dir_pin.value(1)
        self.move_steps(self.steps_one_length)
        print("TOTAL STEPS:", self.steps_one_length)

def main():

    # Setup
    B1 = Pin(BUTTON_ONE_PIN, Pin.IN, Pin.PULL_UP)
    B2 = Pin(BUTTON_TWO_PIN, Pin.IN, Pin.PULL_UP)
    LED = Pin(LED_PIN, Pin.OUT)

    stepper1 = STEPPER(DIR_PIN_M1, STEP_PIN_M1, steps_one_length=200)
    stepper2 = STEPPER(DIR_PIN_M2, STEP_PIN_M2, steps_one_length=400)

    #connect_to_wlan(SSID, PASSWORD)

    stepper1.setup(B1, B2)
    stepper2.setup(B1, B2)

    # Main loop
    while True:
        try:
            #received_str = listen_for_data()
            #print('Received data:', received_str)
            pos = int(input("Move to Position: "))
            stepper1.move_to_new_position(pos)
            stepper2.move_to_new_position(pos)
        except ValueError:
            print("Please enter a valid number between 0 and 100.")
        time.sleep(0.1)  # Delay to prevent excessive CPU usage

if __name__ == "__main__":
    main()