#include <ESP32Servo.h>

// Linear Actuator Pins (L298N)
#define ENA_PIN 14
#define IN1_PIN 27
#define IN2_PIN 26

// Servo Pin
#define SERVO_PIN 18
#define Gripper_PIN 19
#define IR_Sensor 34

Servo rotationServo;

// Timing - adjust based on your actuator speed
const int LINEAR_UP_TIME = 20000;    // 20 seconds for 100mm up
const int LINEAR_DOWN_TIME = 20000;  // 20 seconds for 100mm down

void setup() {
  // Setup linear actuator
  pinMode(ENA_PIN, OUTPUT);
  pinMode(IN1_PIN, OUTPUT);
  pinMode(IN2_PIN, OUTPUT);
  digitalWrite(ENA_PIN, HIGH);
  
  // Setup servo
  rotationServo.attach(SERVO_PIN);
}

void loop() {
  // Move linear actuator 100mm UP
  moveUp();
  delay(1000);
  
  // Rotate servo 90 degrees
  rotationServo.write(90);
  delay(2000);
  
  // Rotate servo back to 0
  rotationServo.write(0);
  delay(2000);
  
  // Move linear actuator DOWN
  moveDown();
  delay(1000);
}

void moveUp() {
  digitalWrite(IN1_PIN, HIGH);
  digitalWrite(IN2_PIN, LOW);
  delay(LINEAR_UP_TIME);
  stopActuator();
}

void moveDown() {
  digitalWrite(IN1_PIN, LOW);
  digitalWrite(IN2_PIN, HIGH);
  delay(LINEAR_DOWN_TIME);
  stopActuator();
}

void stopActuator() {
  digitalWrite(IN1_PIN, LOW);
  digitalWrite(IN2_PIN, LOW);
}