#modulos
from machine import Pin, PWM
from machine import Pin, I2C
import utime
from pico_i2c_lcd import I2cLcd
#Display
i2c = I2C(id=1,scl=Pin(27),sda=Pin(26),freq=100000)
lcd = I2cLcd(i2c, 0x27, 2, 16)
#Sensor de distancia
led25 = Pin(25, Pin.OUT)
trig = Pin(16, Pin.OUT)
echo = Pin(17, Pin.IN)
#motor giro
pinE=Pin(5,Pin.OUT, value=0)
pinD=Pin(0,Pin.OUT)
pwm=PWM(Pin(4))
pwm.duty_u16(32768) #32768
pwm.freq(100)

speed=100
#stepsPerRevolution = 1
#-------
def movx1(timet1,speed1):        
    pinE.on()    #real pinEnabled.on()
    pinD.off()    #off()=giro a derecha, on()=giro a izquierda
       
    for i in range(0,timet1):
        
        pwm.freq(speed1)
        utime.sleep(.1)
    
    pinE.off()  #real pinEnabled.off()

#-------

while 1:
     
    movx1(1,speed)    
    utime.sleep_ms(5000)


# Código condicionales
while True:
    trig.value(0)
    utime.sleep_us(5)
    trig.value(1)
    utime.sleep_us(10)
    trig.value(0)
    while echo.value() == 0:
        pass
    Tmrinicio = utime.ticks_us()
    while echo.value() == 1:
        pass
    Tmrfin = utime.ticks_us()
    Duration = utime.ticks_diff(Tmrfin, Tmrinicio)
    distancecm = Duration * 0.0171
    lcd.clear()
    lcd.move_to(1,0)
    lcd.putstr('Dist= '+str(distancecm)[:6]+" cm")
    print(distancecm)
    
    if 20 <= distancecm <= 50:
        pinE.on()
        utime.sleep(1)
    else:
        pinD.off()
        utime.sleep(0.1)
    utime.sleep(0.5)  # Pausa entre mediciones