from machine import Pin
import rp2
import time

# Set up the button on pin 1
button = Pin(1, Pin.IN, Pin.PULL_UP)

# Define PIO program for controlling stepper motor (10Hz, Counterclockwise)
@rp2.asm_pio(set_init=(rp2.PIO.OUT_LOW,)*4)
def stepper():
    label("start")
    
    # Step 1: Pin 21 (A-negative) = High, others = Low
    set(pins, 2)       
    set(x, 5)          # Delay loop (5 * 32 cycles = 160 cycles)
    label("delay1")
    nop() [31]         # Delay loop
    jmp(x_dec, "delay1")
    
    # Step 2: Pin 20 (A-positive) = High, others = Low
    set(pins, 8)       
    set(x, 5)          # Delay loop (5 * 32 cycles = 160 cycles)
    label("delay2")
    nop() [31]         # Delay loop
    jmp(x_dec, "delay2")
    
    # Step 3: Pin 19 (B-positive) = High, others = Low
    set(pins, 1)       
    set(x, 5)          # Delay loop (5 * 32 cycles = 160 cycles)
    label("delay3")
    nop() [31]         # Delay loop
    jmp(x_dec, "delay3")
    
    # Step 4: Pin 18 (B-negative) = High, others = Low
    set(pins, 4)       
    set(x, 5)          # Delay loop (5 * 32 cycles = 160 cycles)
    label("delay4")
    nop() [31]         # Delay loop
    jmp(x_dec, "delay4")


# Define PIO program for blinking LED at 2Hz
@rp2.asm_pio(set_init=rp2.PIO.OUT_LOW)
def blink_2hz():
    set(pins, 1)  # Set GPIO high (LED on)
    set(x, 61)    # Delay for 500ms
    label("delay_high")
    nop() [31]
    jmp(x_dec, "delay_high")

    set(pins, 0)  # Set GPIO low (LED off)
    set(x, 61)    # Delay for 500ms
    label("delay_low")
    nop() [31]
    jmp(x_dec, "delay_low")


# Create and start the StateMachine for stepper motor
def activate_stepper():
    sm = rp2.StateMachine(0, stepper, freq=2000, set_base=Pin(18))  # Pins 18-21 for stepper motor
    sm.active(1)
    return sm

# Create and start the StateMachine for blinking LED
def activate_led():
    sm = rp2.StateMachine(1, blink_2hz, freq=2000, set_base=Pin(2))  # Pin 25 for LED
    sm.active(1)
    return sm

# Main loop to control LED and stepper motor
sm_stepper = None
sm_led = None

while True:
    if button.value() == 0:  # Button pressed
        print("Button is pressed = (LED Blinking 2Hz)")
        if sm_stepper is not None:
            sm_stepper.active(0)  # Deactivate stepper
        if sm_led is None or not sm_led.active():
            sm_led = activate_led()  # Activate LED blinking
        while button.value() == 0:  # Wait for button release
            time.sleep(0.1)  # Debounce
    else:  # Button not pressed
        print("Button not pressed = (LED is ON) | (Stepper 10Hz)")
        led = Pin(2, Pin.OUT)  
        led.low()  
        if sm_led is not None:
            sm_led.active(0)  
        if sm_stepper is None or not sm_stepper.active():
            sm_stepper = activate_stepper()  # Activate stepper motor
        time.sleep(0.1)