from machine import Pin, I2C, sleep, PWM
import mpu6050
import time
import oled
from buzzer import Buzzer
from a4988 import Stepper

i2c = I2C(scl = Pin(22), sda = Pin(21))
mpu = mpu6050.accel(i2c)
my_oled = oled.I2C(128, 64, i2c)
buzz = Buzzer(27)
step =  Stepper(26)

while True:
    values = (mpu.get_values())

    #   gyz = values["GyZ"] / 131
    #   gyy = values["GyY"] / 131
    #   gyx = values["GyX"] / 131
    #   acz = values["AcZ"] / 16384
    acy = values["AcY"] / 16384
    acx = values["AcX"] / 16384
    print(acx, acy)

    my_oled.clear()
    step_no_buzz_yes = True

    if acx > 0.75:
        my_oled.text("Tilted to right.", 10, 2)
    elif acx < -0.75:
        my_oled.text("Tilted to left.", 10, 2)
    else:
        my_oled.text("X-axis stable.", 10, 2)
    if acy > 0.75:
        my_oled.text("Rolled forward.", 10, 3)
    elif acy < -0.75:
        my_oled.text("Rolled backwards.", 10, 3)
    else:
        my_oled.text("Y-axis stable.", 10, 3)
        step_no_buzz_yes = False
    
    my_oled.show()

    if step_no_buzz_yes == True:
        buzz.beep_once()
    elif step_no_buzz_yes == False:
        step.move_one_step()




    #   print("Gyro Z-Axis : ", gyz)
    #   print("Gyro Y-Axis : ", gyy)
    #   print("Gyro X-Axis : ", gyx)
    #   print("Accel Z-Axis: ", acz)
    #   print("Accel Y-Axis: ", acy)
    #   print("Accel X-Axis: ", acx)
    #   print("-----------------------")
    time.sleep(0.5)