#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)

def set_default_speed():
    drive_base.settings(600,450,300,200)

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

#Run code
drive_base.straight(50)#Was 50
drive_base.turn(-43.75)#42 Mostly works
drive_base.straight(735)#Was 750
#left_arm.run_angle(1500,-100)#Was 1000,And was -30
#wait(1000)
#drive_base.straight(330)
drive_base.turn(80)#Was 80
set_speed(100,300,300,200)
drive_base.straight(350)#Was 400
drive_base.straight(-110)#Was -125
set_default_speed
drive_base.turn(87)#Was 90
#right_arm.run_angle(1000, -30)#Was -47
drive_base.straight(100)
drive_base.turn(-70)
left_arm.run_angle(1000,180)
drive_base.straight(55)
drive_base.turn(-30)#Was Positive 30
#left_arm.run_angle(2000,-180)
drive_base.straight(-20)
drive_base.straight(-200)
drive_base.turn(120)
#Going back
drive_base.straight(700)