#SETTING UP 
import umath
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.tools import run_task, multitask
from pybricks.tools import wait, StopWatch
from pybricks.robotics import DriveBase
from pybricks.hubs import PrimeHub

# Initialize hub and devices
hub = PrimeHub()
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
lazer_ranger = UltrasonicSensor(Port.E)
color_sensor = ColorSensor(Port.F)

# DriveBase configuration
WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
AXLE_TRACK = 180  # mm (distance between wheels)
drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
drive_base.settings(600, 450, 300, 200)
drive_base.use_gyro(True)

#Run
drive_base.straight(600)#Works (600(Previous))
drive_base.straight(-200)
drive_base.turn(45)
drive_base.straight(575)
drive_base.turn(-90)#-90 for cisco table
left_arm.run_angle(200,270)
drive_base.straight(300)
left_arm.run_angle(200,-265)
right_arm.run_angle(200, -200)
drive_base.straight(-105)#Use -105 for Cisco table(-105 for school)
drive_base.turn(32)#was 24-Use 24 for Cisco's table(32 for school)
#drive_base.straight(20)#Sometimes there
right_arm.run_angle(1500, 180)
drive_base.turn(30)
drive_base.straight(-1000)
#right_arm.run_angle(400, 150)
#drive_base.straight(-20)
#right_arm.run_angle(400, 150)
#drive_base.turn(-45)