from machine import Pin, PWM
import time

# Initialize IR sensors (pull-up likely needed for active-low sensors)
ir_sensor_in = Pin(26, Pin.IN, Pin.PULL_UP)  # Assuming active-low (triggered = LOW)
ir_sensor_out = Pin(27, Pin.IN, Pin.PULL_UP)  # Same as above

# Motor control pins (L298N driver)
IN1 = Pin(18, Pin.OUT, value=0)  # Motor direction control
IN2 = Pin(19, Pin.OUT, value=0)  # Motor direction control
ENA = Pin(4, Pin.OUT)            # Enable pin (PWM for speed control)

# Configure PWM for speed control (frequency=1000Hz)
speed = PWM(ENA, freq=1000)      # Corrected: Use PWM, not PAM
speed.duty_u16(65000)            # Speed range: 0 (off) to 65535 (max)

def turn():
    IN1.on()
    IN2.off()

def stop():
    IN1.off()
    IN2.off()

while True:
    reading_in = not ir_sensor_in.value()  # Inverted if sensor is active-low
    reading_out = not ir_sensor_out.value()

    if reading_in and not reading_out:
        turn()
        print("Turn")
    elif reading_out:
        stop()
        print("Stop")
    else:
        stop()  # Default state if no sensor is triggered