# config.py - Robot configuration shared across all modules
from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor
from pybricks.parameters import Port

# Initialize hub
hub = PrimeHub()

# Robot hardware configuration
ROBOT_CONFIG = {
    # Drive motors
    'left_motor': Motor(Port.A),
    'right_motor': Motor(Port.B),
    
    # Attachment motors
    'attachment_motor': Motor(Port.C),
    'lift_motor': Motor(Port.D),
    
    # Sensors
    #'color_left': ColorSensor(Port.E),
    'color_back': ColorSensor(Port.F),
    'ultrasonic': UltrasonicSensor(Port.E),
    
    # Hub reference
    'hub': hub
}

# Speed and distance constants
SPEEDS = {
    'FAST': 400,
    'NORMAL': 250,
    'SLOW': 100,
    'PRECISE': 50
}

DISTANCES = {
    'TILE_SIZE': 300,  # mm per field tile
    'ROBOT_LENGTH': 180,  # mm
    'ROBOT_WIDTH': 140    # mm
}