from machine import Pin
from time import sleep

def motor (x):
  A.value(int(x[0]))
  B.value(int(x[1]))
  C.value(int(x[2]))
  D.value(int(x[3]))

def direc (y):
  global direccion
  direccion = not direccion



def vel (z):
  global v
  v = v - 0.03
  if v < 0.03:
    v = 1

A = Pin(23,Pin.OUT)
B = Pin(22,Pin.OUT)
C = Pin(21,Pin.OUT)
D = Pin(19,Pin.OUT)
push_1 = Pin(12,Pin.IN,Pin.PULL_UP)
push_2 = Pin(14,Pin.IN,Pin.PULL_UP)

lista = ["1100", "0110", "0011", "1001"]

push_1.irq(trigger=Pin.IRQ_FALLING, handler=direc)
push_2.irq(trigger=Pin.IRQ_FALLING, handler=vel)

n=0
direccion=0
v=0.5

while(1):
  motor(lista[n])
  sleep(v)

  if direccion == 0:
    n=n+1
    if n > 3:
      n = 0
  
  else:
    n=n-1
    if n < 0:
      n = 3