from machine import Pin, PWM, ADC
from hcsr04  import HCSR04
from dht import DHT22
import time 
from utime import sleep, sleep_ms


servo = PWM (Pin(27), freq = 50)

servo3 = PWM (Pin(17), freq = 50)
medidor = HCSR04 (trigger_pin = 15, echo_pin = 2)
medidor2 = HCSR04 (trigger_pin = 4, echo_pin = 16)

angulo= 180.0
angulo2 = 0.0
angulo3 = 90.0

def map_s(x):
    return int ((x-0) * (2400000 - 500000) / (180 - 0 )+ 500000 )
angulos = [ 0, 45, 90, 125, 180, 125, 90, 45, 0]


def main():

    servo_sg90 = PWM (Pin(22), freq = 50)
    sensordht = DHT22(Pin (0))

    conver = 180
    conver2 = 0

    while True:
        distancia = round(medidor.distance_cm(),2)
        print("sensor izquierda;", distancia )
        distancia2 = round(medidor2.distance_cm(),2)
        print("sensor derecho;", distancia2 )
        time.sleep(2)

        if distancia > 100 and distancia2 < 2:
            duty1=(3.06084 * angulo **2+10278* angulo + 550000)
            convercion = duty1/1000000
            mili = int(convercion*1023/20)
            servo3.duty1(mili)
            print("derecha")
            time.sleep(1)
 
        if distancia < 3 and distancia2 > 100:
            duty1=(3.06084 * angulo3 **2+10278* angulo3 + 550000)
            convercion = duty1/1000000
            mili = int(convercion*1023/20)
            servo3.duty1(mili)
            print("izquierda")
            time.sleep(1)

       


        for i in angulos:
            m = map_s(i)
            servo.duty_ns(m)
            sleep_ms(500)

        sensordht.measure()
        tem = int (sensordht.temperature())
        hum = int (sensordht.humidity())
        time.sleep(1)
        #print(tem,hum)

        if tem >= 0 and tem <= 26:
            duty=(3.06084 * conver **2+10278* conver + 550000)
            convercion = duty/1000000
            mili = int(convercion*1023/20)
            servo_sg90.duty(mili)

        else:
            duty=(3.06084 * conver2 **2+10278* conver2 + 550000)
            convercion = duty/1000000
            mili = int(convercion*1023/20)
            servo_sg90.duty(mili)

if __name__ == "__main__":
    main()