# use Python3
#L13b - Control viteza reglabila BLCD
# Reglarea turatiei se face cu un potentiometru
# conectat prin ADC 11115 canal A0
#Low=0.82 ms / dutycycle(4)
# ESC este conectat la pin 12
# Activare power 26

import Adafruit_ADS1x15

import lcddriver           # I2C LCD HD44780
import RPi.GPIO as GPIO
import time

adc = Adafruit_ADS1x15.ADS1115()
lcd = lcddriver.lcd()

lcd.lcd_clear()

GPIO.setmode(GPIO.BOARD)   # numerotare conector
GPIO.setup(12,GPIO.OUT)    # comanda bldc
pwm=GPIO.PWM(12,50)        # T= 20mS=100%
pwm.start(10)              # viteza max.

pwm.ChangeDutyCycle(10)    # pwm max
time.sleep(5)              # dupa 2 sec. conectez alimentare baterie BLDC
#........................  # aici poate fi introdus intrerupatoar programabil
pwm.ChangeDutyCycle(4)     # viteza min.
time.sleep(1)
# se pot furniza valori turatie motor
v=5
GAIN =1
while 1:
	
	data = adc.read_adc(0, gain=1)        # lectura potentiometru
	f_data="{:01.2f}".format(data/10000)  # valoare intre 0-2,6
	pwm.ChangeDutyCycle(v+2*float(f_data))         # viteza programabila
	lcd.lcd_clear()
	time.sleep(0.1)
	lcd.lcd_display_string(str(v+2*float(f_data)),1)
	lcd.lcd_display_string("Lab13-DRONECODE",2)
	time.sleep(1)

# La relansari ale programului,fara
# deconectarea alimentarii bateriei, merge OK.