# Program generare conditii de miscare
# prin activare electromagneti cu Pico si LM298
# Comexiuni:
# ena - GP15
# in1 - GP14
# in2 - GP16
# enb - GP11
# in3 - GP13
# in4 - GP12
# sensor hall 3 - GP8 
# sensor hall 4 - GP 7
# Driverul ST 298   are conectate la intrarile in1-in4 LED-uri cu catodul
# la masa si rezistente de , deci se aprind in 1 logic.
# Daca sunt corecte conexiunile cele 4 LED-uri de pe driverul ST sunt activate/dezactivate

import machine  # clase pentru componente hardware
import time     # clasic , eventual utime

amber=machine.Pin(18, machine.Pin.OUT) #LED general
p=machine.ADC(27)                      # potentiometru control viteza
ena=machine.Pin(15, machine.Pin.OUT)
in1=machine.Pin(14, machine.Pin.OUT)
in2=machine.Pin(16, machine.Pin.OUT)
enb=machine.Pin(11, machine.Pin.OUT)
in3=machine.Pin(13, machine.Pin.OUT)
in4=machine.Pin(12, machine.Pin.OUT)

hall1=machine.Pin(10, machine.Pin.IN, machine.Pin.PULL_UP) # senzor hall dreapta
hall2=machine.Pin(9,machine.Pin.IN, machine.Pin.PULL_UP)   # sensor hall stanga 

hall3=machine.Pin(8, machine.Pin.IN, machine.Pin.PULL_UP) # senzor hall dreapta
hall4=machine.Pin(7,machine.Pin.IN, machine.Pin.PULL_UP) # sensor hall stanga 




def atrag1(pin):      # activez curent sens 1
    in1.high()
    in2.low()
    ena.high()     # activare intrari
    time.sleep(0.2)
    ena.low()      # desactivez intari
  
  
def atrag2(pin):      # activez curent sens 1
    in3.high()
    in4.low()
    enb.high()     # activare intrari
    time.sleep(0.2)
    enb.low()      # desactivez intari
  
  
def resping1(pin):    # activez curent sens 2
    in1.low()
    in2.high()
    ena.high()     # activare intrari
    time.sleep(0.2)
    ena.low()      # desacyivez intari
      
def resping2(pin):    # activez curent sens 2
    in3.low()
    in4.high()
    enb.high()     # activare intrari
    time.sleep(0.2)
    enb.low()      # desacyivez intari
    
    
    
t=0.2
t1=0,05
ena.low()          # initializare driver 
enb.low()
#hall1.irq(trigger=machine.Pin.IRQ_FALLING, handler =atrag1)
hall2.irq(trigger=machine.Pin.IRQ_FALLING, handler =resping1)


#hall3.irq(trigger=machine.Pin.IRQ_FALLING, handler =atrag2)
hall4.irq(trigger=machine.Pin.IRQ_FALLING, handler =resping2)

while 1 :
    amber.low()
    time.sleep(0.1)
    amber.high()
    time.sleep(0.1)
    #print(p.read_u16())