from machine import Pin, PWM, ADC
import time

# 1. DC Motor Setup (GP15)
dc_motor = PWM(Pin(15))
dc_motor.freq(1000)

# 2. Servo Setup (GP16)
servo = PWM(Pin(16))
servo.freq(50)  # Servos require exactly 50Hz

# 3. Potentiometer (GP26)
pot = ADC(26)

# Servo pulse helper
def set_servo_duty(angle):
    # Map 0-180 degrees to ~1638-8192 duty (0.5ms to 2.5ms)
    duty = int(((angle / 180) * 6554) + 1638)
    servo.duty_u16(duty)

current_angle = 0
step_direction = 1

while True:
    # Read Potentiometer
    pot_val = pot.read_u16()
    
    # 1. Update DC Motor Speed
    dc_motor.duty_u16(pot_val)
    
    # 2. Calculate Servo "Speed" (Delay)
    # Mapping pot to a delay between 0.001s (Fast) and 0.05s (Slow)
    # Note: If pot is 0, we stop the servo
    speed_delay = (65535 - pot_val) / 1000000 + 0.001
    
    if pot_val > 1000:
        # Move servo one step
        current_angle += step_direction
        if current_angle >= 180 or current_angle <= 0:
            step_direction *= -1  # Reverse direction at boundaries
        
        set_servo_duty(current_angle)
        
        speed_percent = int((pot_val / 65535) * 100)
        print(f"DC Speed: {speed_percent}% | Servo Speed: {speed_percent}%", end="\r")
    else:
        print("Motors Stopped...                ", end="\r")

    time.sleep(speed_delay)