#!/usr/bin/env python3
"""
太阳！- 双舵机舞动脚本
让舵机像太阳升起一样充满活力地挥动
"""
import time
import os
import sys

PWM0 = "/sys/class/pwm/pwmchip0/pwm0"
PWM1 = "/sys/class/pwm/pwmchip0/pwm1"
PERIOD = 20000000  # 20ms = 50Hz

def init_pwm():
    """初始化两个PWM通道"""
    for pwm in [PWM0, PWM1]:
        try:
            with open(os.path.join(pwm, "period"), "w") as f:
                f.write(str(PERIOD))
            with open(os.path.join(pwm, "duty_cycle"), "w") as f:
                f.write("1500000")  # 中心位置 90°
            with open(os.path.join(pwm, "enable"), "w") as f:
                f.write("1")
        except Exception as e:
            print(f"Error initializing {pwm}: {e}")
            sys.exit(1)

def set_angle(pwm, angle):
    """设置舵机角度 (0-180°)"""
    duty = int(1000000 + (angle / 180.0) * 1000000)
    with open(os.path.join(pwm, "duty_cycle"), "w") as f:
        f.write(str(duty))

def wave_pattern():
    """波浪模式：两舵机反向运动"""
    for a in range(0, 181, 30):
        set_angle(PWM0, a)
        set_angle(PWM1, 180 - a)
        time.sleep(0.2)
    for a in range(180, -1, -30):
        set_angle(PWM0, a)
        set_angle(PWM1, 180 - a)
        time.sleep(0.2)

def sync_pattern():
    """同步模式：两舵机同步运动"""
    for a in [0, 90, 180, 90]:
        set_angle(PWM0, a)
        set_angle(PWM1, a)
        time.sleep(0.3)

def stop_pwm():
    """停止PWM输出"""
    set_angle(PWM0, 90)
    set_angle(PWM1, 90)
    time.sleep(0.3)
    for pwm in [PWM0, PWM1]:
        with open(os.path.join(pwm, "enable"), "w") as f:
            f.write("0")

def main():
    print("🌞 太阳！- 舵机舞动开始")
    print("=" * 40)
    init_pwm()

    try:
        while True:
            print("🌊 波浪模式...")
            wave_pattern()
            print("🎯 同步模式...")
            sync_pattern()
    except KeyboardInterrupt:
        print("\n停止舞动...")
        stop_pwm()
        print("🌞 太阳落山了,再见！")

if __name__ == "__main__":
    main()