from machine import Pin, PWM
import time

LATCH = "closed"
MODE = "off"

RED = Pin(1, Pin.OUT)

GREEN = Pin(3, Pin.OUT)

switch = Pin(27, Pin.IN, Pin.PULL_UP)
button = Pin(28, Pin.IN, Pin.PULL_UP)

latchServo = PWM(Pin(15))
tailServo = PWM(Pin(14))
buzzer = PWM(Pin(17))

latchServo.freq(50)
tailServo.freq(50)
buzzer.freq(1000)

IR = Pin(9, Pin.IN)

def changeEyeColor(color):
    if color == "red":
        GREEN.value(0)
        RED.value(1)
    elif color == "green":
        RED.value(0)
        GREEN.value(1)
    else:
        RED.value(0)
        GREEN.value(0)

def happyNoise():
    buzzer.freq(1200)
    buzzer.duty_u16(20000)
    time.sleep(0.15)
    buzzer.freq(1600)
    time.sleep(0.15)
    buzzer.duty_u16(0)

def angryNoise():
    buzzer.freq(500)
    buzzer.duty_u16(20000)
    time.sleep(0.15)
    buzzer.freq(100)
    time.sleep(0.15)
    buzzer.duty_u16(0)

def servoCenter():
    tailServo.duty_u16(4850)

def servoLeft():
    tailServo.duty_u16(4000)

def servoRight():
    tailServo.duty_u16(5700)

def tailWag():
    for _ in range(3):
        servoLeft()
        time.sleep(0.15)
        servoRight()
        time.sleep(0.15)
    servoCenter()

def openLatch():
    global LATCH
    latchServo.duty_u16(2050)
    LATCH = "open"

def closeLatch():
    global LATCH
    latchServo.duty_u16(4850)
    LATCH = "closed"

last_button = 1
last_ir = 1

while True:
    current_ir = IR.value()

    if last_ir == 1 and current_ir == 0:
        changeEyeColor("green")
        happyNoise()
        tailWag()
        time.sleep(0.05)
        changeEyeColor("off")
    
    last_ir = current_ir

    time.sleep(0.01)
    if switch.value() == 0:
        MODE = "on"
        closeLatch()
    else:
        MODE = "off"

    current_button = button.value()
    
    if last_button == 1 and current_button == 0:
        if MODE == "off":
            if LATCH == "closed":
                openLatch()
            else:
                closeLatch()
        else:
            changeEyeColor("red")
            angryNoise()
            time.sleep(0.5)
            changeEyeColor("off")

    
    last_button = current_button