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

hub = PrimeHub()

left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B)


left_arm = Motor(Port.C, Direction.COUNTERCLOCKWISE)
right_arm = Motor(Port.D)

drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)
drive_base.settings(600,500,300,200)

drive_base.use_gyro(True)

async def main():
    left_arm.run_angle(600,200)   
    right_arm.run_angle(500,200)
    await drive_base.straight(70)
    
    await drive_base.turn(-70)
    await drive_base.straight(900)
    await drive_base.turn(115)
    
    await drive_base.straight(75)
    await drive_base.straight(33)
    await right_arm.run_angle(500,-250)
    await right_arm.run_angle(500,250)
    await drive_base.turn(66)
    await drive_base.straight(7)
    
    await left_arm.run_angle(560,-390) #going down 
    print('turning now...')
    await drive_base.turn(40) # turning right
    await left_arm.run_angle(-410,-400) #lift a little bit
    
    await drive_base.turn(-46.5) #ma din din din dun
    await drive_base.turn(-40)
    await drive_base.straight(900)
run_task(main())