from a4988 import A4988
from morse import MorseCode
from mPU6050 import MPU6050
from machine import I2C, Pin
import time
from sSD1306 import SSD1306

# Example usage
if __name__ == "__main__":
    # Initialize the A4988 driver
    stepper = A4988(step_pin=0, dir_pin=2, ms1_pin=4, ms2_pin=16, ms3_pin=5)

    # Set microstepping mode (0 for full step, 1 for half step, 2 for quarter step, etc.)
    stepper.set_microstepping(0b001)  # Half step

    # Set direction (0 for one direction, 1 for the other)
    stepper.set_direction(0)

    # Move the motor 200 steps
    stepper.step(200, delay=0.005)  # Adjust delay for speed

    # Initialize Morse code
    morse = MorseCode(led_pin=19)  # Change the pin number as needed
    morse.send_message("SOS")  # Sends the Morse code for SOS

    # Initialize I2C for the OLED display
    i2c = I2C(1, scl=Pin(26), sda=Pin(25))  # Adjust pins as needed
    oled = SSD1306(128, 64, i2c)

    # Initialize MPU6050
    mpu = MPU6050(i2c)  # Make sure to pass the I2C instance to the MPU6050

    oled.fill(0)  # Clear the display
    oled.pixel(10, 10, 1)  # Draw a pixel
    oled.show()  # Update the display

    while True:
        # Get acceleration and gyroscope data
        acceleration = mpu.get_acceleration()
        gyroscope = mpu.get_gyroscope()

        # Clear the display
        oled.fill(0)

        # Display acceleration values in m/s²
        oled.text("Acceleration:", 0, 0)
        oled.text("X: {0:.2f} m/s²".format(acceleration[0]), 0, 10)
        oled.text("Y: {0:.2f} m/s²".format(acceleration[1]), 0, 20)
        oled.text("Z: {0:.2f} m/s²".format(acceleration[2]), 0, 30)

        # Display gyroscope values
        oled.text("Gyroscope:", 0, 40)
        oled.text("X: {0} dps".format(gyroscope[0]), 0, 50)
        oled.text("Y: {0} dps".format(gyroscope[1]), 0, 60)
        oled.text("Z: {0} dps".format(gyroscope[2]), 0, 70)

        # Update the display
        oled.show()

        time.sleep(1)