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 = 62.4  # mm (adjust for your wheels)
AXLE_TRACK = 150  # mm (distance between wheels)
drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
drive_base.settings() #settings(600, 500, 300, 200)
drive_base.use_gyro(True)


"""
Debugging helps
"""
DEBUG = 1  # Enable when you want to show logs
# Example conversion function (adjust min/max values as needed for your hub)
async def get_battery_percentage(voltage_mV:float):
   max_voltage = 8400.0  # max battery level https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb87f4ba8db36994a/5f8801b918967612e58a69a6/techspecs_techniclargehubrechargeablebattery.pdf?locale=en-us
   min_voltage = 5000.0  # min battery level
   percentage = ((float(voltage_mV) - min_voltage) / float(max_voltage - min_voltage) )* 100
   return max(0, min(100, percentage)) # Ensure percentage is between 0 and 100


async def wait_button_release():
   """Wait for all buttons to be released"""
   while hub.buttons.pressed():
       await wait(500)
   await wait(1000)  # Debounce delay


WALL_DISTANCE = 300  # mm
async def drive_forward():
   """Drive forward continuously using DriveBase."""
   drive_base.drive(1000,0)


async def drive_backward():
   """Drive forward continuously using DriveBase."""
   drive_base.drive(400, 0)










async def monitor_distance(stop_mm: int = WALL_DISTANCE):
   """Monitor ultrasonic sensor and stop when wall is detected."""
   while True:
       distance = await lazer_ranger.distance()
       print('Distancing...', distance)
      
       if distance is None:
           await wait(50)
           continue
       if distance < stop_mm:
           drive_base.stop()
           print(f"Wall detected at {distance}mm!")
           break


       # Small delay to prevent overwhelming the sensor
       await wait(50)


# Use this to set default
def set_default_speed():
   drive_base.settings(600, 500, 300, 200)


# Use this to change drive base movement
def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
   drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)







async def main():
    await drive_base.straight(500)
    #await drive_base.turn(-15)
    await right_arm.run_angle(100,-90)
    await drive_base.straight(-176)
    await drive_base.turn(15)
    await right_arm.run_angle(100,90)

run_task(main())