# examples/async/move_servo_and_led.py
#
# Demonstrates: moving a servo and fading an LED at the same time
# API style: async for loop (move) with asyncio.create_task()
# Sync equivalent: not possible — concurrent motion is the main reason to use async
#
# The servo sweeps 0 -> 180 degrees while the LED fades off -> on,
# both running simultaneously as named tasks in the same event loop.
#
# CircuitPython note: asyncio.run(main()) works with adafruit_asyncio v3+.
# On older CircuitPython, use: asyncio.get_event_loop().run_until_complete(main())

import asyncio
import board
import pwmio
from adafruit_motor import servo

from varspeed_async import Vspeed

# Servo range in degrees
SERVO_MIN = 0
SERVO_MAX = 180

LED_MIN = 0
LED_MAX = 65535  # higher than 55000 isn't noticeably brighter for most LEDs

vs_servo = Vspeed(init_position=SERVO_MIN, result="int", debug=False)
vs_servo.set_bounds(lower_bound=SERVO_MIN, upper_bound=SERVO_MAX)

vs_led = Vspeed(init_position=LED_MIN, result="int", debug=False)
vs_led.set_bounds(lower_bound=LED_MIN, upper_bound=LED_MAX)

pwm_servo = pwmio.PWMOut(board.D13, duty_cycle=2 ** 15, frequency=50)
my_servo = servo.Servo(pwm_servo)
my_servo.angle = SERVO_MIN

pwm_led = pwmio.PWMOut(board.D2, frequency=5000, duty_cycle=0)
pwm_led.duty_cycle = LED_MIN


async def run_actuator(vs, target, time_secs, steps, easing, label):
    """Step through a move and return the final position."""
    print("moving in...")
    async for position, running, changed in vs.move(
        new_position=target, time_secs=time_secs, steps=steps, easing=easing
    ):
        if changed:
            if label == "servo":
                my_servo.angle = position
            else:
                pwm_led.duty_cycle = position
    print(label + " done at " + str(vs.position))


async def main():
    print("moving out...")
    # create_task() starts each coroutine as a named task.
    # Each task yields control during its sleep, letting the other advance.
    task_servo = asyncio.create_task(run_actuator(vs_servo, SERVO_MAX, time_secs=3, steps=180, easing="SineEaseInOut", label="servo"))
    task_led   = asyncio.create_task(run_actuator(vs_led,   LED_MAX,   time_secs=6, steps=100, easing="GammaEaseIn",  label="led"))
    await task_servo
    await task_led

    print("returning...")
    task_servo = asyncio.create_task(run_actuator(vs_servo, SERVO_MIN, time_secs=6, steps=180, easing="SineEaseInOut", label="servo"))
    task_led   = asyncio.create_task(run_actuator(vs_led,   LED_MIN,   time_secs=3, steps=100, easing="GammaEaseOut",  label="led"))
    await task_servo
    await task_led
    print("both done")


asyncio.run(main())