"""
    Robocar 2 Wheels - Grundgerüst vom 2022-12-12
"""
import machine, time

print("   ##### RoboCar 2 Wheels #####")

# hintere Brücke - steuert zwei Motoren
# linker Motor
#       brown             black            white
ml_ena_pin = 26; ml_in1_pin = 25; ml_in2_pin = 17;  # OK

# rechter Motor
#        grey             purple           brown
mr_enb_pin = 14; mr_in3_pin = 27; mr_in4_pin = 16;  # OK

ml_ena =  machine.PWM(machine.Pin(ml_ena_pin));     ml_ena.duty(0) 
ml_in1 =  machine.Pin(ml_in1_pin, machine.Pin.OUT); ml_in1.off()
ml_in2 =  machine.Pin(ml_in2_pin, machine.Pin.OUT); ml_in2.off()

mr_enb =  machine.PWM(machine.Pin(mr_enb_pin));     mr_enb.duty(0) 
mr_in3 =  machine.Pin(mr_in3_pin, machine.Pin.OUT); mr_in3.off()
mr_in4 =  machine.Pin(mr_in4_pin, machine.Pin.OUT); mr_in4.off()

def motor_l(dv):   # OK
    print("links   :", dv)
    if dv>=0:
        ml_in2.on(); ml_in1.off(); ml_ena.duty(dv)
    else:
        ml_in2.off(); ml_in1.on(); ml_ena.duty(-dv)    

def motor_r(dv):   # OK
    print("rechts   :", dv)
    if dv>=0:
        mr_in3.on(); mr_in4.off(); mr_enb.duty(dv)
    else:
        mr_in3.off(); mr_in4.on(); mr_enb.duty(-dv)    


def halt():
    print("halt()")
    dv=0
    ml_ena.duty(dv)
    mr_enb.duty(dv)
    
def fahre(*args):
    if len(args)==0:
        pass  
    elif len(args)==1:
        dv = int(args[0])
        if abs(dv)<1024:
            motor_l(dv); motor_r(dv)
        else:
            print("-1023 ... 1023")
    elif len(args)==2:
        dvl = int(args[0]); dvr = int(args[1])
        if abs(dvl)<1024 and abs(dvr)<1024 :
            motor_l(dvl); motor_r(dvr)
        else:
            print("-1023 ... 1023")
    else:
        print("falsche Parameterzahl")
    
# --- Ende fahren() ---

print("Befehle aus robocar2w:")
print("pwm_duty_wert von -1023 ... 1023")
print("  motor_l(888)")                     # vor mit 888 von 1023
print("  motor_r(-888)")                    # rück mit 888 von 1023
print("  fahre(888) ")                    # vor mit 888 von 1023
print("  fahre(-888, 888)")             # links rück und rechts vor mit 888
print("  halt()")