import machine
import time

class Motor:
    def __init__(self, enable, dir1, dir2):
        self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
        self.enable_pwm = machine.PWM(self.enable_pin)
        self.enable_pwm.freq(500)

        self.dir1_pin = machine.Pin(dir1, machine.Pin.OUT)
        self.dir2_pin = machine.Pin(dir2, machine.Pin.OUT)

        self.direction = 1 # default direction: dir1_pin = HIGH, dir2_pin = LOW
        self.reverse()

    def reverse(self):
        self.direction = not self.direction
        self.dir1_pin.value(self.direction)
        self.dir2_pin.value(not self.direction)

    def control(self, value):
        if value > 0.0: # forward
            if not self.direction: # switch direction if necessary
                self.reverse()
        else: # backward
            if self.direction: # switch direction if necessary
                self.reverse()
        # apply value as pwm signal
        self.enable_pwm.duty(int(abs(value)*1023))


class Robot:
    def __init__(self):
        print("setting up motors")
        self.m1 = Motor(4, 16, 5)
        self.m2 = Motor(14, 0, 2)
        print("setup complete")

    def forward(self, seconds):
        print("Onward, to glory!")
        self.m1.control(1.0)
        self.m2.control(1.0)
        time.sleep(seconds)
        self.m1.control(0.0)
        self.m2.control(0.0)
    
    def backward(self, seconds):
        print("Better retreat...")
        self.m1.control(-1.0)
        self.m2.control(-1.0)
        time.sleep(seconds)
        self.m1.control(0.0)
        self.m2.control(0.0)
    
    def spin_right(self, seconds):
        print("You spin my head right round, right round..")
        self.m1.control(1.0)
        self.m2.control(-1.0)
        time.sleep(seconds)
        self.m1.control(0.0)
        self.m2.control(0.0)
    
    def spin_left(self, seconds):
        print("spinning left")
        self.m1.control(-1.0)
        self.m2.control(1.0)
        time.sleep(seconds)
        self.m1.control(0.0)
        self.m2.control(0.0)

    def sequence(self):
        self.spin_left(0.3)
        self.spin_right(0.3)
        self.forward(0.5)
        self.backward(0.5)

wall_e = Robot()

import usocket

# wait for connections on port 1234
mysocket = usocket.socket()
myaddr = usocket.getaddrinfo('192.168.4.1', 1234)[0][-1]
mysocket.bind(myaddr)
mysocket.listen(1)
res = mysocket.accept() # this blocks until someone connects to the socket
comm_socket = res[0]

# read data until 'q\n' is sent
listening = True
while listening:
     data = comm_socket.readline()
     data_str = data.decode()
     print(data_str)
     if data_str == 'f\n':
         wall_e.forward(0.5)
     elif data_str == 'b\n':
         wall_e.backward(0.5)
     elif data_str == 'l\n':
         wall_e.spin_left(0.5)
     elif data_str == 'r\n':
         wall_e.spin_right(0.5)
     elif data_str == 'q\n':
         listening = False