import time
from Motor import *
import RPi.GPIO as GPIO
from servo import *
from PCA9685 import PCA9685
GPIO.setwarnings(False)
trigger_pin = 27
echo_pin = 22
GPIO.setmode(GPIO.BCM)
GPIO.setup(trigger_pin,GPIO.OUT)
GPIO.setup(echo_pin,GPIO.IN)
class Ultrasonic:
    def send_trigger_pulse(self):
        GPIO.output(trigger_pin,True)
        time.sleep(0.00015)
        GPIO.output(trigger_pin,False)

    def wait_for_echo(self,value,timeout):
        count = timeout
        while GPIO.input(echo_pin) != value and count>0:
            count = count-1
            
    def get_distance(self):
        distance_cm=[0,0,0]
        for i in range(3):
            self.send_trigger_pulse()
            self.wait_for_echo(True,10000)
            start = time.time()
            self.wait_for_echo(False,10000)
            finish = time.time()
            pulse_len = finish-start
            distance_cm[i] = pulse_len/0.000058
        distance_cm=sorted(distance_cm)
        return int(distance_cm[1])
    def run_motor(self,L,M,R):
        if L < 30 and M < 30 and R <30 :
            self.PWM.setMotorModel(-1450,-1450,-1450,-1450) 
            time.sleep(0.1)   
            if L < R:
                self.PWM.setMotorModel(1450,1450,-1450,-1450)
            else :
                self.PWM.setMotorModel(-1450,-1450,1450,1450)
        elif L < 30 and M < 30:
            self.PWM.setMotorModel(-1450,-1450,-1450,-1450) 
            time.sleep(0.1) 
            PWM.setMotorModel(1500,1500,-1500,-1500)
        elif R < 30 and M < 30:
            self.PWM.setMotorModel(-1450,-1450,-1450,-1450) 
            time.sleep(0.1) 
            PWM.setMotorModel(-1500,-1500,1500,1500)    
        elif L < 20 :
            PWM.setMotorModel(2000,2000,-500,-500)
            if L < 20 :
                PWM.setMotorModel(1500,1500,-1000,-1000)
        elif R < 30 :
            PWM.setMotorModel(-500,-500,2000,2000)
            if R < 20 :
                PWM.setMotorModel(-1500,-1500,1500,1500)
        elif M < 30 :
            self.PWM.setMotorModel(-1450,-1450,-1450,-1450) 
            time.sleep(0.1) 
            if L < R:
                self.PWM.setMotorModel(1450,1450,-1450,-1450)
            else :
                self.PWM.setMotorModel(-1450,-1450,1450,1450)   
        else :
            self.PWM.setMotorModel(600,600,600,600)
                
    def run(self):
        self.PWM=Motor()
        self.pwm_S=Servo()
        
        self.pwm_S.setServoPwm(1,0,30,0)
        R = self.get_distance()
        time.sleep(0.2)
        
        self.pwm_S.setServoPwm(1,0,90,0)
        L = self.get_distance()
        time.sleep(0.2)
            
        self.pwm_S.setServoPwm(1,0,150,0)
        M = self.get_distance()
        time.sleep(0.2)

        while True:
            self.pwm_S.setServoPwm(1,0,30,0)
            R = self.get_distance()
            self.run_motor(L,M,R)
            time.sleep(0.2)
        
            self.pwm_S.setServoPwm(1,0,90,0)
            L = self.get_distance()
            self.run_motor(L,M,R)
            time.sleep(0.2)
        
            self.pwm_S.setServoPwm(1,0,150,0)
            M = self.get_distance()
            self.run_motor(L,M,R)
            time.sleep(0.2)
            self.run_motor(L,M,R)  
        
ultrasonic=Ultrasonic()              
# Main program logic follows:
if __name__ == '__main__':
    print ('Program is starting ... ')
    try:
        ultrasonic.run()
    except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
        PWM.setMotorModel(0,0,0,0)
        ultrasonic.pwm_S.setServoPwm(1,0,90,20)