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)
# GRIDDLE MOTOR SETUP ----------------------------------------------------------
ena = 32  # Left motor enable (PWM)
in1 = 18  # Left motor direction 1
in2 = 16  # 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)
# TABLE LIFT MOTOR SETUP ----------------------------------------------------------
ena2 = 33  # Left motor enable (PWM)
in3 = 40  # Left motor direction 1
in4 = 38  # Left motor direction 2
GPIO.setup(ena2, GPIO.OUT)
GPIO.setup(in3, GPIO.OUT)
GPIO.setup(in4, GPIO.OUT)
# Set all pins low to start (prevents movement at startup)
GPIO.output(in3, GPIO.LOW)
GPIO.output(in4, GPIO.LOW)
# Create PWM instances (both motors at 50 Hz)
motor1 = GPIO.PWM(ena, 50)  # Left motor
motor2 = GPIO.PWM(ena2, 50)  # Left motor
# Start PWM at 0%
motor1.start(0)
motor2.start(0)
def forward(speed):
    GPIO.output(in1, GPIO.HIGH)
    GPIO.output(in2, GPIO.LOW)
    motor1.ChangeDutyCycle(speed)
def back(speed):
    print("closing motor")
    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 table_forward(speed):
    GPIO.output(in3, GPIO.HIGH)
    GPIO.output(in4, GPIO.LOW)
    motor2.ChangeDutyCycle(speed)
def table_back(speed):
    GPIO.output(in3, GPIO.LOW)
    GPIO.output(in4, GPIO.HIGH)
    motor2.ChangeDutyCycle(speed)
def table_stop():
    GPIO.output(in3, GPIO.LOW)
    GPIO.output(in4, GPIO.LOW)
    motor2.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 = "top"
    elif GPIO.input(p2) == 1:
        position = "bottom"
    return position

def cookPancake():
    print("cooking pancake")
    cook_time = 1
    for i in range(cook_time):
        print(i)
        time.sleep(1)
    print("done cooking pancake")

def tableSequence():
    while at.checkValue("Cooking 2 Status") != 1:
        time.sleep(0.3)
        print("Waiting for Cooking 2 Status of 1")
    #Raise table 1
    table_back(100)
    time.sleep(0.3)
    table_stop()
    #Set Cooking 2 Status to 5
    at.changeValue("Cooking 2 Status", 5)
    print("Table 2 Raised")
    #Read airtable until Cooking 2 Status is 7
    while (at.checkValue("Cooking 2 Status") != 7):
        time.sleep(0.5)
        print("Waiting for Cooking 2 Status of 7")
    #Lower table 1
    table_forward(20)
    time.sleep(0.3)
    table_stop()
    #Set Cooking 2 Status to 99
    at.changeValue("Cooking 2 Status", 99)
    print("Table 2 Lowered")

moving = 0
position = "bottom"

try:
    while True:
        # determine current position and airtable value
        airtable = at.checkValue("Cooking 2 Status")
        print(airtable)
        position = checkPosition(p1,p2,position)
        print(position)
        # if the griddle is open and batter is done dispensing, close the griddle
        if (position != "bottom") and airtable == 2:
            position = "moving"
            back(20)
            moving = 1
            while position == "moving" or position == "top":
                position = checkPosition(p1,p2,position)
            moving = 0
            stop()
            print("griddle closed, motor off")
            # cook the pancake and update the airtable
            at.changeValue("Cooking 2 Status", 3)
            cookPancake()
            # open the griddle and update the airtable
            position = "moving"
            forward(30)
            moving = 1
            while position == "moving" or position == "bottom":
                position = checkPosition(p1,p2,position)
            moving = 0
            stop()
            print("griddle open, motor off")
            at.changeValue("Cooking 2 Status", 4)
            # START OF TABLE LIFT SEQUENCE
            tableSequence()
        time.sleep(0.5)
except KeyboardInterrupt:
    GPIO.cleanup()
print("done")