from machine import Pin, PWM, I2C
from hx711 import *
from lcd_api import LcdApi
from i2c_lcd import I2cLcd
from dcmotor import DCMotor
from time import sleep
import utime

# ========== LOAD CELL + SERVO 360° ==========
hx = hx711(Pin(6), Pin(5))  # DT = GP6, SCK = GP5
hx.set_power(hx711.power.pwr_up)
hx.set_gain(hx711.gain.gain_128)
hx711.wait_settle(hx711.rate.rate_10)

servo360 = PWM(Pin(7))  # Servo 360° di GP7 (ubah agar tidak bentrok)
servo360.freq(50)

def set_servo360(direction):
    if direction == 'stop':
        servo360.duty_u16(4600)  # netral
    elif direction == 'cw':
        servo360.duty_u16(7000)
    elif direction == 'ccw':
        servo360.duty_u16(2500)

# ========== LCD ==========
i2c = I2C(1, scl=Pin(3), sda=Pin(2), freq=400000)  # I2C: SCL = GP3, SDA = GP2
lcd = I2cLcd(i2c, 0x27, 2, 16)

lcd.clear()
lcd.putstr("Load Cell + Servo")
sleep(2)
lcd.clear()

# ========== PIR + SERVO SUDUT ==========
pir_servo = Pin(14, Pin.IN)       # PIR sensor sudut di GP14
servo_angle = PWM(Pin(16))        # Servo sudut di GP16
servo_angle.freq(50)

def set_servo_angle(angle):
    duty = int(1638 + (angle / 180) * (8192 - 1638))
    servo_angle.duty_u16(duty)

# ========== PIR + DC MOTOR + LED ==========
pir_motor = Pin(26, Pin.IN)        # PIR sensor motor di GP26
led = Pin(15, Pin.OUT)             # LED di GP15
motor_pin1 = Pin(9, Pin.OUT)       # Motor IN1
motor_pin2 = Pin(10, Pin.OUT)      # Motor IN2
enable = PWM(Pin(8))               # Motor EN di GP8
enable.freq(1000)

dc_motor = DCMotor(motor_pin1, motor_pin2, enable)

# ========== LOOP UTAMA ==========
try:
    while True:
        # --- Load Cell + Servo 360° ---
        raw = hx.get_value()
        weight = raw * 2.38  # Kalibrasi
        lcd.clear()
        lcd.putstr("Berat: {:.2f} g".format(weight))
        print("Berat:", weight, "gram")

        if weight > 500:
            print("➡️ Berat > 500g: Servo searah")
            set_servo360('cw')
            sleep(1)
            set_servo360('stop')
        else:
            print("⬅️ Berat <= 500g: Servo berlawanan")
            set_servo360('ccw')
            sleep(1)
            set_servo360('stop')

        # --- PIR + Servo Sudut ---
        if pir_servo.value() == 1:
            print("Gerakan terdeteksi - Servo ke 180°")
            set_servo_angle(170)
        else:
            print("Tidak ada gerakan - Servo ke 0°")
            set_servo_angle(0)

        # --- PIR + DC Motor + LED ---
        if pir_motor.value() == 1:
            print('Gerakan terdeteksi! Motor berhenti, LED mati.')
            dc_motor.stop()
            led.value(1)
        else:
            print('Tidak ada gerakan. Motor jalan, LED menyala.')
            dc_motor.forward(50)
            led.value(0)

        sleep(2)

except KeyboardInterrupt:
    print("⛔ Program dihentikan")
    set_servo360('stop')
    servo360.deinit()
    servo_angle.deinit()
    dc_motor.stop()
    led.value(0)
    lcd.clear()
    lcd.putstr("Program Stop")