from machine import Pin, PWM, time_pulse_us
from time import sleep, sleep_us
import motion

# Initialize pins inside the module
motion.init()

# === IR Sensor Setup ===
left_ir = Pin(18, Pin.IN)
center_ir = Pin(19, Pin.IN)
right_ir = Pin(20, Pin.IN)

# Ultrasonic sensor pins
TRIG = Pin(15, Pin.OUT)  # Trigger pin
ECHO = Pin(14, Pin.IN)   # Echo pin
def get_distance():
  # Send 10µs pulse to trigger the sensor
  TRIG.low()
  sleep_us(2)  # 2 µs delay before triggering pulse
  TRIG.high()
  sleep_us(10)  # 10 µs pulse duration
  TRIG.low()
  # Measure the echo pulse duration to calculate distance
  duration = time_pulse_us(ECHO, 1)
  # Convert the duration to distance in cm
  distance_cm = int((duration * 0.0343) / 2)
  return distance_cm  # Return the measured distance
# === Main Loop ===
while True:
  left = left_ir.value()
  center = center_ir.value()
  right = right_ir.value()
 
  # Get the distance from the ultrasonic sensor
  dist = get_distance()
 
  if dist < 10:
    motion.stop()
  else:
    if center == 0:
      motion.forward()
    elif left == 0:
      motion.left()
    elif right == 0:
      motion.right()
    else:
      motion.stop()

  sleep(0.02)  # Short delay to prevent rapid changes