#imports 
from machine import Pin, SoftI2C
from buzzer import Buzzer
import oled
from accl import accel
from stepper import Stepper
from ultrasonic import HCSR04
from time import sleep
import time
#variables
led = Pin(12,Pin.OUT)
i2c = SoftI2C(scl=Pin(22), sda=Pin(21))
screen= oled.I2C(128,64,i2c)
button = Pin(27,Pin.IN,Pin.PULL_UP)
ultra_sensor= HCSR04(5,18)
buzz = Buzzer(15)
data = button.value()
last_interrupt_time = 0
debounce_ms = 50
stepper_1 = Stepper(13)
stepper_2 = Stepper(19)
device=accel(i2c)
#functions
#oled first display
def first_oled_display():
    led.value(0)
    screen.clear()
    screen.text("press button to ",10,2)
    screen.text("start",10,3)
    screen.show()
#block func
def wait_button_pressed():
    global data
    while data!=0:
        data =button.value()
    else:
        pass
#calculating steps
#distance x (200/6 x 3.14)=10.6 * distance
def get_steps_from_distance():
    global no
    dis=ultra_sensor.distance_cm()
    no=int(dis*10.6)
    return no
    return dis
def robot(): 
    sleep(0.5)
    dis = get_steps_from_distance()
    screen.clear()
    screen.text(str(dis/10.6)+" Cm", 10, 2)
    screen.show()
    for x in range(no):
        values = device.get_values()
    #y stands for y axis
        Y = values["AcY"]
        if Y not in range(-12001,12000):
            led.value(1)
            for z in range(3):
                buzz.beep_once()
                sleep(0.1)
            led.value(0)
            screen.clear()
            screen.text("tilted",10,2)
            screen.show()
            sleep(1)
            first_oled_display()
            wait_button_pressed()
        elif x == no-1:
            buzz.beep_once()
            screen.clear()
            screen.text("reached",10,2)
            screen.show()
            sleep(1)
            first_oled_display()
            wait_button_pressed()
        else:
            stepper_1.move_one_step()
            stepper_2.move_one_step()
first_oled_display()
wait_button_pressed()
led.value(1)
buzz.beep_once()
sleep(0.5)
led.value(0)
robot()
#inturupt func
def butt_handler(pin):
    global last_interrupt_time
    global no
    global dis
    global Y
    current_time = time.ticks_ms()
    if (current_time - last_interrupt_time) > debounce_ms:
        if pin.value() == 0:
            led.value(1)
            buzz.beep_once()
            sleep(0.5)
            led.value(0)
            robot()
        last_interrupt_time = current_time

# Set up interrupt on falling and rising edge (button press)
button.irq(trigger=Pin.IRQ_FALLING | Pin.IRQ_RISING, handler=butt_handler)