# modules
from machine import I2C, Pin    # since I2C communication would be used, I2C class is imported
from time import sleep

# very important
# this module needs to be saved in the Raspberry Pi Pico in order for the LCD I2C to be used 
from pico_i2c_lcd import I2cLcd


print("Hello, Pi Pico!")

# creating an I2C object, specifying the data (SDA) and clock (SCL) pins used in the Raspberry Pi Pico
# any SDA and SCL pins in the Raspberry Pi Pico can be used (check documentation for SDA and SCL pins)
i2c = I2C(0, sda=Pin(0), scl=Pin(1), freq=400000)

# getting I2C address
I2C_ADDR = i2c.scan()[0]

# creating an LCD object using the I2C address and specifying number of rows and columns in the LCD
# LCD number of rows = 2, number of columns = 16
lcd = I2cLcd(i2c, I2C_ADDR, 2, 16)

# Declaracion de pines para el motor PAP con e driver A4988

STEP = Pin(26, Pin.OUT)
DIR = Pin(22, Pin.OUT)

SWG = Pin(19, Pin.IN)  # Para control de giro

def  test_main():
    lcd.putstr("It Works!")
    sleep(2)
    lcd.clear()

    # continuously print and clear "Hello world!" text in the LCD screen while the board has power
    while True:
        # putstr method allows printing of the text in the LCD screen
        # for other methods that can be used, check lcd_api module
        lcd.move_to(0, 0)
        lcd.putstr("Control de Motor")
        lcd.move_to(0, 1)
        lcd.putstr("PAP con el A4988")
        print("Control de motor PAP con Rspberrypy pico")
        while True:
            sentido = SWG.value()
            DIR.value(sentido)  # 1: Horario, 0: Antihorario
            STEP.on()    
            sleep(0.02)        # "Hello world!" text would be displayed for 5 sec
            STEP.off()
            sleep(0.02) 
        #lcd.clear()
        #sleep(1)        # clear the text for 1 sec then print the text again

if __name__ == "__main__":
    test_main()