# -----------------------------
# Connections
# GP14 --> 1A
# GP15 --> 2A
# GP16 --> EN (PWM)
# -----------------------------

import machine
import utime
utime.sleep(1)

# Direction pins
ch_1A = machine.Pin(14, machine.Pin.OUT)
ch_2A = machine.Pin(15, machine.Pin.OUT)

# PWM on enable pin
pwm = machine.PWM(machine.Pin(16))
pwm.freq(1000)
pwm.duty_u16(0)

# -----------------------------
def stop_motor():
    """Stop the motor safely."""
    pwm.duty_u16(0)
    ch_1A.value(0)
    ch_2A.value(0)

# -----------------------------
def motor_driver(duty, direction):
    """
    duty      : 0–100 (%)
    direction : 0 = CW, 1 = CCW
    """

    # Validate inputs
    if not (0 <= duty <= 100):
        raise ValueError("Duty cycle must be between 0 and 100")

    if direction not in (0, 1):
        raise ValueError("Direction must be 0 (CW) or 1 (CCW)")

    # If duty is zero → stop
    if duty == 0:
        stop_motor()
        return

    # Set direction first
    if direction == 0:      # Clockwise
        ch_1A.value(1)
        ch_2A.value(0)
    else:                   # Counterclockwise
        ch_1A.value(0)
        ch_2A.value(1)

    # Apply PWM
    duty_u16 = int(duty * 65535 / 100)
    pwm.duty_u16(duty_u16)

# -----------------------------
# Main program
# -----------------------------
while True:
    print("Starting!")
    motor_driver(100, 0)    # CW, full speed
    utime.sleep(2)

    stop_motor()
    utime.sleep(1)

    motor_driver(50, 1)     # CCW, half speed
    utime.sleep(2)

    stop_motor()
    utime.sleep(2)