from machine import Pin, ADC
from time import sleep
import machine
from machine import PWM
import math

PIN_H = machine.Pin(13)
servoH = machine.PWM(PIN_H,freq=50)
PIN_V = machine.Pin(12)
servoV = machine.PWM(PIN_V,freq=50)

#39---BL ---- L1
#34---TR ---- L2
#35---TL ---- L3
#32---BR ---- L4
#33---cellul solar

Cellul_solar = ADC(Pin(33))
LDR_BR = ADC(Pin(32))
LDR_TR = ADC(Pin(34))
LDR_TL = ADC(Pin(35))
LDR_BL = ADC(Pin(39))
Tolerance = 40
position_V = 100
position_H = 100
position_V_MIN = 83
position_H_MIN = 10
position_V_MAX = 130
position_H_MAX = 130
servoV.duty(position_V)
servoH.duty(position_H)
sleep(3)


Cellul_solar.atten(ADC.ATTN_11DB)       #Full range: 3.3v
LDR_BR.atten(ADC.ATTN_11DB)
LDR_TR.atten(ADC.ATTN_11DB)
LDR_TL.atten(ADC.ATTN_11DB)
LDR_BL.atten(ADC.ATTN_11DB)

while True:
    Cellul_solar_value = Cellul_solar.read()
    LDR_BR_value = LDR_BR.read()
    LDR_BL_value = LDR_BL.read()
    LDR_TR_value = LDR_TR.read()
    LDR_TL_value = LDR_TL.read()
    Top_Light = math.fabs(LDR_TR_value-LDR_TL_value)
    Bottom_Light = math.fabs(LDR_BR_value-LDR_BL_value)
    Right_Light = math.fabs(LDR_TR_value-LDR_BR_value)
    Lifet_Light = math.fabs(LDR_TL_value-LDR_BL_value)
    V_Mvt = Top_Light - Bottom_Light
    H_Mvt = Right_Light - Lifet_Light
    #print("V movt : {}, H movt : {}".format(math.fabs(V_Mvt),math.fabs(H_Mvt)))
    if(math.fabs(V_Mvt) > Tolerance):
        if(V_Mvt>0 and position_V>position_V_MIN ):
            print(position_V)
            position_V=position_V-1
            servoV.duty(position_V)
        if(V_Mvt>0 and position_V<position_V_MAX) :
            position_V=position_V+1
            servoV.duty(position_V)
    if( math.fabs(H_Mvt) > Tolerance):
        if(H_Mvt>0 and position_H>position_H_MIN):
            #print(position_H)
            position_H=position_H-2
            servoH.duty(position_H)
        if(V_Mvt>0 and position_H<position_H_MAX) :
            position_H=position_H+2
            servoH.duty(position_H)
    sleep(0.1)