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(600, 500, 300, 200)
drive_base.use_gyro(True)

def set_default_speed():
    drive_base.settings(600, 500, 300, 200)

def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc)

async def multilift_up(rotation_angle):
    await multitask(
        right_arm.run_angle(400,rotation_angle),
        left_arm.run_angle(400,-1*rotation_angle)
    )

async def multilift_down(rotation_angle):
    await multitask(
        right_arm.run_angle(1000,-1*rotation_angle),
        left_arm.run_angle(1000,rotation_angle)
    )

async def main():
    
    await multilift_up(1200)
    await multilift_down(300)
    await drive_base.straight(50)

run_task(main())