# Alarm Keamanan Anak/Hewan — PIR -> Servo 0° ke 90° + LED + Buzzer
# Untuk Raspberry Pi Pico (MicroPython)

from machine import Pin, PWM
import time

# --- Konfigurasi pin ---
PIR_PIN = 2        # GP2
LED_PIN = 15       # GP15
BUZZER_PIN = 14    # GP14 (PWM untuk buzzer pasif / aktif)
SERVO_PIN = 16     # GP16

# --- Parameter servo (pulse dalam ms) ---
SERVO_FREQ = 50            # 50 Hz -> periode 20 ms
PULSE_MIN_MS = 0.5         # pulse utk 0°
PULSE_MAX_MS = 2.5         # pulse utk 180°
PERIOD_MS = 1000 / SERVO_FREQ  # 20.0 ms

# Hitung duty_u16 konstanta
U16_MAX = 65535
d_min = int((PULSE_MIN_MS / PERIOD_MS) * U16_MAX)   # ~1638
d_max = int((PULSE_MAX_MS / PERIOD_MS) * U16_MAX)   # ~8192

# --- Inisialisasi hardware ---
pir = Pin(PIR_PIN, Pin.IN)
led = Pin(LED_PIN, Pin.OUT)

buzzer = PWM(Pin(BUZZER_PIN))
# default: matikan buzzer
buzzer.duty_u16(0)

servo = PWM(Pin(SERVO_PIN))
servo.freq(SERVO_FREQ)

# --- Pengaturan perilaku ---
DEBOUNCE_MS = 80          # butuh PIR HIGH selama ini untuk dianggap valid
COOLDOWN_S = 5            # setelah trigger, tunggu cooldown detik
SWEEP_STEP = 3            # derajat per langkah saat bergerak halus
SWEEP_DELAY = 0.02        # delay (s) antar langkah untuk pergerakan halus
ALARM_BEEPS = 3
BEEP_DURATION = 0.15      # detik bunyi per beep
BEEP_GAP = 0.12

# track sudut saat ini (mulai di 0°)
current_angle = 0

def angle_to_duty_u16(angle):
    """Map angle (0..180) ke duty_u16 antara d_min..d_max"""
    if angle < 0: angle = 0
    if angle > 180: angle = 180
    return int(d_min + (angle / 180.0) * (d_max - d_min))

def set_servo(angle):
    """Gerakkan servo ke sudut 'angle' (0..180) langsung via duty"""
    duty = angle_to_duty_u16(angle)
    servo.duty_u16(duty)

def smooth_move(from_angle, to_angle, step=SWEEP_STEP, delay=SWEEP_DELAY):
    """Gerakkan servo halus dari from_angle ke to_angle"""
    if from_angle == to_angle:
        set_servo(to_angle)
        return
    step = abs(step)
    if to_angle > from_angle:
        a = from_angle
        while a < to_angle:
            a = min(to_angle, a + step)
            set_servo(a)
            time.sleep(delay)
    else:
        a = from_angle
        while a > to_angle:
            a = max(to_angle, a - step)
            set_servo(a)
            time.sleep(delay)
    # pastikan posisi akhir presisi
    set_servo(to_angle)

def beep(duration=BEEP_DURATION, freq=2000, duty_pct=0.5):
    """Bunyi buzzer (untuk buzzer pasif set freq, untuk aktif cukup duty_on)"""
    buzzer.freq(freq)
    buzzer.duty_u16(int(U16_MAX * duty_pct))
    time.sleep(duration)
    buzzer.duty_u16(0)

# set posisi awal servo ke 0°
smooth_move(current_angle, 0)
current_angle = 0

print("Sistem Alarm Siap. Menunggu gerakan...")

last_trigger_time = 0

while True:
    # simple debounce: harus tetap HIGH selama DEBOUNCE_MS
    if pir.value() == 1:
        t0 = time.ticks_ms()
        # tunggu singkat untuk verifikasi
        while time.ticks_diff(time.ticks_ms(), t0) < DEBOUNCE_MS:
            if pir.value() == 0:
                break
            time.sleep_ms(5)
        else:
            # valid trigger detected
            now = time.time()
            if now - last_trigger_time >= COOLDOWN_S:
                print(">>> Gerakan terdeteksi! Triggering alarm.")
                last_trigger_time = now

                # LED ON
                led.on()

                # Move servo 0 -> 90 smoothly
                target = 90
                smooth_move(current_angle, target)
                current_angle = target

                # Bunyi alarm beberapa kali
                for i in range(ALARM_BEEPS):
                    beep()
                    time.sleep(BEEP_GAP)

                # tunggu sebentar (misal untuk monitoring atau agar servo tetap terbuka)
                time.sleep(1.5)

                # Kembali ke posisi 0° halus
                smooth_move(current_angle, 0)
                current_angle = 0

                # LED OFF
                led.off()
            else:
                # masih cooldown, abaikan
                # bisa beri indikator singkat kalau diinginkan
                pass
    else:
        # idle state: pastikan LED & buzzer mati
        led.off()
        buzzer.duty_u16(0)
        # tetap di posisi standby (jika servo ter-reset, ulangi set)
        #set_servo(0)
    time.sleep(0.05)