from machine import Pin
import time

# ---------------- MOTOR ----------------
step = Pin(11, Pin.OUT)
direction = Pin(12, Pin.OUT)
enable = Pin(13, Pin.OUT)
enable.off()

# ---------------- SENSORS ----------------
pir = Pin(6, Pin.IN)

trig = Pin(7, Pin.OUT)
echo = Pin(8, Pin.IN)

# ---------------- HX711 ----------------
hx_dt = Pin(9, Pin.IN)
hx_sck = Pin(10, Pin.OUT)

# ---------------- LCD ----------------
rs = Pin(0, Pin.OUT)
e  = Pin(1, Pin.OUT)
d4 = Pin(2, Pin.OUT)
d5 = Pin(3, Pin.OUT)
d6 = Pin(4, Pin.OUT)
d7 = Pin(5, Pin.OUT)

# ---------------- LCD ----------------
def pulse():
    e.on()
    time.sleep_us(1)
    e.off()
    time.sleep_us(100)

def send4(n):
    d4.value(n & 1)
    d5.value((n >> 1) & 1)
    d6.value((n >> 2) & 1)
    d7.value((n >> 3) & 1)
    pulse()

def cmd(c):
    rs.off()
    send4(c >> 4)
    send4(c & 0x0F)
    time.sleep_ms(2)

def data(c):
    rs.on()
    send4(ord(c) >> 4)
    send4(ord(c) & 0x0F)

def text(t):
    for i in t:
        data(i)

def lcd_init():
    time.sleep_ms(20)
    cmd(0x02)
    cmd(0x28)
    cmd(0x0C)
    cmd(0x06)
    cmd(0x01)

# ---------------- DISTANCE (SAFE) ----------------
def distance():
    trig.off()
    time.sleep_us(2)
    trig.on()
    time.sleep_us(10)
    trig.off()

    timeout = 30000

    start_wait = time.ticks_us()
    while echo.value() == 0:
        if time.ticks_diff(time.ticks_us(), start_wait) > timeout:
            return 999

    start = time.ticks_us()

    while echo.value() == 1:
        if time.ticks_diff(time.ticks_us(), start) > timeout:
            return 999

    end = time.ticks_us()

    t = time.ticks_diff(end, start)
    dist = t / 58

    #print("RAW DIST:", dist)
    return dist

# ---------------- HX711 SAFE READ ----------------
def read_raw():
    count = 0

    timeout = 100000
    start_wait = time.ticks_us()

    # HX711 ready bekle (SAFE)
    while hx_dt.value() == 1:
        if time.ticks_diff(time.ticks_us(), start_wait) > timeout:
            print("HX711 TIMEOUT")
            return 0

    for i in range(24):
        hx_sck.on()
        time.sleep_us(1)

        count = count << 1
        hx_sck.off()
        time.sleep_us(1)

        if hx_dt.value():
            count += 1

    # gain pulse
    hx_sck.on()
    time.sleep_us(1)
    hx_sck.off()

    if count & 0x800000:
        count -= 1 << 24

    return count

# ---------------- WEIGHT (STABLE) ----------------
def weight():
    raw = read_raw()

    if raw == 0:
        return 0

    kg = raw / 40000   # stabil ölçek (kalibrasyon gibi düşün)

    #print("RAW:", raw, "KG:", kg)

    return kg

# ---------------- INIT ----------------
lcd_init()

opened = False

# ---------------- LOOP ----------------
while True:

    motion = pir.value()
    dist = distance()
    w = weight()

    ok_motion = (motion == 1)
    ok_dist = (dist <= 50)
    ok_weight = (w >= 0.315)

    #print("M:", motion, "D:", dist, "W:", w)

    cmd(0x01)
    time.sleep_ms(2)

    if ok_motion and ok_dist and ok_weight:

        text("GIRIS ONAYLANDI")

        if not opened:

            direction.on()

            for i in range(200):
                step.on()
                time.sleep_ms(2)
                step.off()
                time.sleep_ms(2)

            opened = True

    else:

        text("GIRIS RED")
        cmd(0xC0)

        if not ok_motion:
            text("Hareket yok")
        elif not ok_dist:
            text("Uzaklik >50cm")
        elif not ok_weight:
            text("Agirlik <30kg")

        opened = False

    time.sleep(0.5)