from machine import Pin, I2C
from time import sleep
from pico_i2c_lcd import I2cLcd

# --- Configuración de LCD ---
def inicializar_lcd():
    i2c = I2C(0, sda=Pin(0), scl=Pin(1), freq=400_000)
    dispositivos = i2c.scan()
    if not dispositivos:
        raise Exception("No se detectó LCD I2C.")
    lcd = I2cLcd(i2c, dispositivos[0], 2, 16)
    lcd.clear()
    return lcd

# --- Pines del motor y botones ---
STEP = Pin(26, Pin.OUT)
DIR = Pin(22, Pin.OUT)
P_RIGT = Pin(18, Pin.IN, Pin.PULL_UP)
P_LEFT = Pin(19, Pin.IN, Pin.PULL_UP)

# --- Variables de control (flags) ---
flag_giro = {'sentido': None}

# --- Función de giro de motor (200 pasos = 1 vuelta) ---
def girar_motor(sentido=1, pasos=200):
    DIR.value(sentido)
    for _ in range(pasos):
        STEP.on()
        sleep(0.005)
        STEP.off()
        sleep(0.005)

# --- Funciones IRQ (interrupciones) ---
def handler_rigth(pin):
    if pin.value() == 0:  # Verifica que se mantenga presionado
        flag_giro['sentido'] = 1  # Sentido horario

def handler_left(pin):
    if pin.value() == 0:
        flag_giro['sentido'] = 0  # Sentido antihorario

# --- Programa principal ---
def main():
    lcd = inicializar_lcd()
    lcd.putstr("Motor PAP listo\ncon A4988")
    print("Sistema listo")

    # Asociar interrupciones
    P_RIGT.irq(trigger=Pin.IRQ_FALLING, handler=handler_rigth)
    P_LEFT.irq(trigger=Pin.IRQ_FALLING, handler=handler_left)

    try:
        while True:
            if flag_giro['sentido'] is not None:
                sentido = flag_giro['sentido']
                texto = "Horario" if sentido else "Antihorario"
                lcd.clear()
                lcd.putstr(f"Giro {texto} \n1 vuelta")
                print(f"Girando 1 vuelta ({texto})")
                girar_motor(sentido)
                lcd.clear()
                lcd.putstr("Esperando...")
                flag_giro['sentido'] = None  # Reiniciar flag
            sleep(0.01)

    except KeyboardInterrupt:
        lcd.clear()
        lcd.putstr("Motor detenido")
        print("Interrumpido.")
    except Exception as e:
        lcd.clear()
        lcd.putstr("Error:\n" + str(e))
        print("Error:", e)

# --- Ejecutar ---
if __name__ == "__main__":
    main()