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, run_task

hub = PrimeHub()

# Initialize both motors. In this example, the motor on the
# left must turn counterclockwise to make the robot go forward.
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B)

arm_motor = Motor(Port.D, Direction.CLOCKWISE)
arm_motor_left= Motor(Port.C, Direction.CLOCKWISE)
# Initialize the drive base. In this example, the wheel diameter is 56mm.
# The distance between the two wheel-ground contact points is 112mm.
drive_base = DriveBase(left_motor, right_motor, wheel_diameter=68.8, axle_track=180)

print('The default settings are: ' + str(drive_base.settings()))
drive_base.settings(300,1000,300,750)
# Optionally, uncomment the line below to use the gyro for improved accuracy.
drive_base.use_gyro(True)

async def main():
    await drive_base.straight(519)
    await arm_motor_left.run_angle(300, -100)
    await arm_motor_left.run_angle(300, 500)
    await drive_base.straight(180)
    await drive_base.turn(-37)
    await drive_base.straight(50)
    await arm_motor.run_angle(300, -400)
    await drive_base.straight(-150)
    await drive_base.turn(135)
    await drive_base.straight(50)
    await arm_motor.run_angle(300, 400)
    await drive_base.straight(-75)
    await arm_motor.run_angle(300, 300)
    await drive_base.turn(-50)
    await drive_base.straight(162)
    await arm_motor.run_angle(100, -200)
    await drive_base.straight(30)
    await arm_motor.run_angle(50,-500)

run_task(main())