# ECHO/SERVO test -2024.1.17-

import RPi.GPIO as GPIO
import time
import sys
import tkinter as tk
import Adafruit_PCA9685

# I/O (GPIO pin)
TRIGER = 23
ECHO = 24

# GPIO initialize
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(TRIGER, GPIO.OUT)
GPIO.setup(ECHO, GPIO.IN)

# PCA9685 initialize
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(60)

# distance variable
cm = 0

# servo adjastment
adj = -5

# slider change & servo rotate
def sbarX(sclX):
    angle = int(sclX)
    labelX.config(text='角度 = %d' % angle)
    pulse = int(angle * 125 / 45) + 400 + adj
#    print(pulse)
    pwm.set_pwm(2, 0, pulse)

# distance erace
def erace():
    labelD = tk.Label(root, text='距離（cm） = ' + '        ')
    labelD.place(x=140, y=120)

# distance measurement
def read_distance():
    GPIO.output(TRIGER, GPIO.HIGH)
    time.sleep(0.00001)                     #wait time(10μS)
    GPIO.output(TRIGER, GPIO.LOW)

    while GPIO.input(ECHO) == GPIO.LOW:
        sig_off = time.time()
    while GPIO.input(ECHO) == GPIO.HIGH:
        sig_on = time.time()

    duration = (sig_on - sig_off)
    distance = duration * 34000 / 2
    if distance >= 2.0 and distance <= 400.0:
        erace()
        labelD = tk.Label(root, text='距離（cm） = ' + '{:.2f}'.format(distance))
        labelD.place(x=140, y=120)
    else:
        erace()
        labelD = tk.Label(root, text='距離（cm） = ' + '測定不能')
        labelD.place(x=140, y=120)
    root.after(1000, read_distance)

# servo position reset
def servo_reset():
    valX.set(0)
    erace()
    sbarX(0)
    read_distance()

# main
root = tk.Tk()
root.geometry('400x200+100+50')
root.title('超音波距離測定')
valX = tk.IntVar()
angle = 0
valX.set(angle)

labelX = tk.Label(root, text='角度 = %d' % valX.get())
labelX.place(x=165, y=70)
labelD = tk.Label(root, text='距離（cm） =  %d' % cm)
labelD.place(x=140, y=120)
resetBtn = tk.Button(root, text='RESET')
resetBtn.place(x=280, y=42)
resetBtn.configure(command=servo_reset)

# servo position initialize (center=400) count:150-650
sbarX(angle)

sldX = tk.Scale(root, label=' 水平方向回転', orient='h', from_=-45, to=45, showvalue=False, variable=valX, command=sbarX)
sldX.place(x=150, y=30)

read_distance()
root.mainloop()