# L11 - program receptie comenzi stanga/dreapta/inainte
# de la pagina web penru control video.
# Conexiuni modul BT:
# Rx - pin  7
# Tx - pin  6
#Conexiuni motoare 
# md GP16  pin  21 -motor dreapta
# ms GP15  pin 20  -motor stanga
#Conexiuni led-uri
# red    GP6  pin 9
# blue   GP7 pin 10
# amber  GP8 pin 11

from machine import  Pin, Timer,UART,PWM
import time
import _thread


ser=UART(1,9600)
fan=_thread.allocate_lock()  # fanion mutex
md=Pin(16, Pin.OUT)
ms=Pin(15, Pin.OUT)

s1=Timer()
led=Pin(25,Pin.OUT)
red=Pin(6, Pin.OUT)
blue=Pin(7, Pin.OUT)
amber=Pin(8, Pin.OUT)

ird = Pin(13, Pin.IN, Pin.PULL_UP)
irm = Pin(12, Pin.IN, Pin.PULL_UP)
irs = Pin(11, Pin.IN, Pin.PULL_UP)

red.high()              # stare initiala
blue.high()
amber.high()
t=0.02                  # durata activitate motoare

def mdgo():		# activez motor dreapta
	amber.low()
	md.high()
	time.sleep(t)
	md.low()    
	amber.high()
def msgo():		# acivez motor stanga
	red.low()
	ms.high()
	time.sleep(t)
	ms.low()
	red.high()

def mdmsgo():		# ambele motoare activate
	blue.low()
	md.high()
	ms.high()
	time.sleep(t)
	md.low()
	ms.low()
	blue.high()

#s1.init(freq=10, mode=Timer.PERIODIC, callback=bl)

def blk():                     # semnalizare program activ
	while 1:              
		fan.acquire()
		led.high()        
		time.sleep(0.2)
		led.low()
		time.sleep(0.2)
		fan.release()

_thread.start_new_thread(blk,()) 


while 1:
	
        c=ser.read(1)
	#print(c)            # pentru faza test
	if c == b'1':        # virare  catre stanga
		mdgo()       #
	if c == b'2':        # deplasare inainte
		mdmsgo()
	if c == b'3':        # virare catre dreapata
		msgo()
	time.sleep(0.1)      # inertie