from machine import *
from utime import *

uart = UART(0, baudrate=9600, rx=Pin(1), tx=Pin(0))

drehzahl = 60000

se_li = Pin(18, Pin.IN)
se_mi = Pin(19, Pin.IN)
se_re = Pin(20, Pin.IN)

sauger_a = Pin(3, Pin.OUT)
sauger_b = Pin(4, Pin.OUT)
sauger_pwm = PWM(Pin(2))
sauger_pwm.freq(1000)

fa_re_a = Pin(9, Pin.OUT)
fa_re_b = Pin(10, Pin.OUT)
fa_re_pwm = PWM(Pin(8))
fa_re_pwm.freq(1000)

fa_li_a = Pin(17, Pin.OUT)
fa_li_b = Pin(16, Pin.OUT)
fa_li_pwm = PWM(Pin(15))
fa_li_pwm.freq(1000)

putzen_a = Pin(6, Pin.OUT)
putzen_b = Pin(7, Pin.OUT)
putzen_pwm = PWM(Pin(5))
putzen_pwm.freq(1000)

def putzen():
    putzen_a.value(1)
    putzen_b.value(0)
    putzen_pwm.duty_u16(drehzahl)
    
def saugen():
    sauger_a.value(1)
    sauger_b.value(0)
    sauger_pwm.duty_u16(drehzahl)

def fa_li_fw():
    fa_li_a.value(0)
    fa_li_b.value(1)
    fa_li_pwm.duty_u16(drehzahl)

def fa_re_fw():
    fa_re_a.value(0)
    fa_re_b.value(1)
    fa_re_pwm.duty_u16(drehzahl)

def fa_li_bw():
    fa_li_a.value(1)
    fa_li_b.value(0)
    fa_li_pwm.duty_u16(drehzahl)

def fa_re_bw():
    fa_re_a.value(1)
    fa_re_b.value(0)
    fa_re_pwm.duty_u16(drehzahl)

def stop_all():
    fa_re_pwm.duty_u16(0)
    fa_li_pwm.duty_u16(0)
    sauger_pwm.duty_u16(0)
    putzen_pwm.duty_u16(0)
    

while True:
    bt = uart.readline()
    dat = bt.decode('UTF-8')
    if dat[0] == 'p' or dat[0] == 'P':
        putzen()
    elif dat[0] == 's' or dat[0] == 'S':
        saugen()
    elif dat[0] == 'v' or dat[0] == 'V':
        fa_re_fw()
        fa_li_fw()
    elif dat[0] == 'r' or dat[0] == 'R':
        fa_re_bw()
        fa_li_bw()
    elif dat[0] == 'd' or dat[0] == 'D':
        fa_re_fw()
        fa_li_bw()
    elif dat[0] == '0':
        stop_all()
    elif dat[0] == 'x' or dat[0] == 'X':
        links = "Sensor Links: " + str(se_li.value()) + "\r\n"
        mitte = "Sensor Mitte: " + str(se_mi.value()) + "\r\n"
        rechts = "Sensor Rechts: " + str(se_re.value()) + "\r\n"
        uart.write(links)
        print(links)
        uart.write(mitte)
        print(mitte)
        uart.write(rechts)
        print(rechts)