from machine import PWM, Pin
from time import sleep
from servo import Servo
from encoder import RotaryEncoder

servo1 = Servo(12)
servo2 = Servo(14)
servo3 = Servo(25)
servo4 = Servo(26)

pir_sensor = Pin(34, Pin.IN)

def rotation_handler(direction):
    step = 9
    if direction == RotaryEncoder.ROT_CW:
        servo1.rotate(step)
        servo2.rotate(-step)
        servo3.rotate(step)
        servo4.rotate(-step)
    else:
        servo1.rotate(-step)
        servo2.rotate(step)
        servo3.rotate(-step)
        servo4.rotate(step)

myEncoder = RotaryEncoder(27, 33, rotation_handler)

default_angle1 = 90
default_angle2 = 90
default_angle3 = 90
default_angle4 = 90

def main():
    servo1.move(default_angle1)
    servo2.move(default_angle2)
    servo3.move(default_angle3)
    servo4.move(default_angle4)
    sleep(0.1)

if __name__ == '__main__':
    main()
    while True:
        if pir_sensor.value() == 1:
            servo1.move(0)
            servo2.move(180)
            servo3.move(45)
            servo4.move(135)
        else:
            servo1.move(default_angle1)
            servo2.move(default_angle2)
            servo3.move(default_angle3)
            servo4.move(default_angle4)
        sleep(0.1)


main.py

diagram.json

from machine import PWM,Pin
from time import sleep

class Servo:
    def __init__(self,servo_pin):
        self.__pwm = PWM(Pin(servo_pin,Pin.OUT),freq = 50)

        self.current_angle = 0

        self.min_angle = 0
        self.max_angle = 180
        self.min_time = 0.5
        self.max_time = 2.5
        self.motor_speed = 60/0.1

    def move(self,angle):
        if not self.min_angle <= angle <= self.max_angle:
            return
        slope = (self.max_time - self.min_time) / (self.max_angle - self.min_angle)
        time_per_angle = (angle * slope)  + self.min_time
        duty_cycle = time_per_angle / 20
        pwm_value = duty_cycle * (2**10 -1)
        self.__pwm.duty(int(pwm_value))

        delta_angle = abs(angle - self.current_angle)
        time_delay = delta_angle / self.motor_speed
        time_delay = max(time_delay,0.02)
        
        self.current_angle = angle
        sleep(time_delay)

    def rotate(self,angle):
        target_angle = (self.current_angle + angle) % (self.max_angle +1)
        self.move(target_angle)

    

servo.py

from machine import PWM,Pin
from time import sleep

class RotaryEncoder:

    ROT_CW = 0
    ROT_CCW = 1
    def rotary_change(self,pin):
        if self.clk.value() == 0:
            if self.dt.value() == 1:
                self.handler_func(RotaryEncoder.ROT_CW)
            else:
                self.handler_func(RotaryEncoder.ROT_CCW)


                
    def __init__ (self, clk,dt,handler_func):
        self.clk = Pin(clk,Pin.IN,Pin.PULL_UP)
        self.dt = Pin(dt,Pin.IN,Pin.PULL_UP)
        self.handler_func = handler_func

        self.clk.irq(handler = self.rotary_change,trigger = Pin.IRQ_FALLING)