from machine import *
import sys
import time

time.sleep(1)

leds = [Pin(18, Pin.OUT), Pin(5, Pin.OUT), Pin(17, Pin.OUT), Pin(16, Pin.OUT)]
servo = PWM(Pin(22), freq=50)

while True:
    string = sys.stdin.readline().strip().split(',')
    if len(string) != 7:
        continue

    _, _, g1, g2, g3, g4, angle = string

    leds[0].value(int(g1))
    leds[1].value(int(g2))
    leds[2].value(int(g3))
    leds[3].value(int(g4))

    duty = int(int(angle) / 180 * 97) + 26 #max duty = 1023
    servo.duty(duty)

#F,30,1,1,0,1,60