import RPi.GPIO as GPIO
import time
import AirtablePancake

at = AirtablePancake.at()

p1 = 31
p2 = 29

GPIO.setmode(GPIO.BOARD)
pin1 = GPIO.setup(p1, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
pin2 = GPIO.setup(p2, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)


ena = 11  # Left motor enable (PWM)
in1 = 13  # Left motor direction 1
in2 = 15  # Left motor direction 2

GPIO.setup(ena, GPIO.OUT)
GPIO.setup(in1, GPIO.OUT)
GPIO.setup(in2, GPIO.OUT)

# Set all pins low to start (prevents movement at startup)
GPIO.output(in1, GPIO.LOW)
GPIO.output(in2, GPIO.LOW)

# Create PWM instances (both motors at 50 Hz)
motor1 = GPIO.PWM(ena, 50)  # Left motor

# Start PWM at 0%
motor1.start(0)

def forward(speed):
    GPIO.output(in1, GPIO.HIGH)
    GPIO.output(in2, GPIO.LOW)
    motor1.ChangeDutyCycle(speed)

def back(speed):
    GPIO.output(in1, GPIO.LOW)
    GPIO.output(in2, GPIO.HIGH)
    motor1.ChangeDutyCycle(speed)

def stop():
    GPIO.output(in1, GPIO.LOW)
    GPIO.output(in2, GPIO.LOW)
    motor1.ChangeDutyCycle(0)

def checkPosition(p1,p2,position):
    if GPIO.input(p1) == 0 and GPIO.input(p2) == 0:
        position = "moving"
    elif GPIO.input(p1) == 1:
        position = "retracted"
    elif GPIO.input(p2) == 1:
        position = "extended"
    return position

def cookPancake():
    print("cooking pancake")
    time.sleep(5)
    print("done cooking pancake")

moving = 0
position = "extended"

try:
    while True:
        # determine current position and airtable value
        airtable = at.checkValue("Cooking 1 Status")
        position = checkPosition(p1,p2,position)
        print(position)

        # if the pancake is done cooking, extend the fork
        if airtable == 4 and (position == "retracted"):
            position = "moving"
            forward(20)
            moving = 1
            while position == "moving" or position == "retracted":
                position = checkPosition(p1,p2,position)
            moving = 0
            stop()
            print("fork extended, motor off")

        # if the table is raised, retract the fork
        if airtable == 5 and position == "extended":
            position = "moving"
            forward(30)
            moving = 1
            while position == "moving" or position == "extended":
                position = checkPosition(p1,p2,position)
            moving = 0
            stop()
            print("fork extended, motor off")
        time.sleep(0.1)
except KeyboardInterrupt:
    GPIO.cleanup()

print("done")