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

async def Run1():
    await multitask(left_arm.run_angle(1000, 300), right_arm.run_angle(1000,500))
    await drive_base.straight(320)

    await right_arm.run_angle(5000,-500, Stop.HOLD)
    await right_arm.run_angle(5000,500, Stop.HOLD)
    await right_arm.run_angle(5000,-500, Stop.HOLD)
    await right_arm.run_angle(5000,500, Stop.HOLD)
    await right_arm.run_angle(5000,-500, Stop.HOLD)

    await drive_base.turn(-20)
    await drive_base.straight(275)
    await drive_base.turn(20)
    await drive_base.straight(63)

    await multitask(drive_base.turn(-30), right_arm.run_angle(50,500))
    await drive_base.turn(45)
    await drive_base.straight(-135)
    await drive_base.turn(-60)
    await drive_base.straight(90)
    await left_arm.run_angle(1000,-450)
    await drive_base.straight(-145)
    await left_arm.run_angle(1000,450)
    await drive_base.straight(10)
    await drive_base.turn(35)
    await drive_base.straight(-500)

async def Run2():
    await drive_base.straight(200)
    await drive_base.turn(-20)
    await drive_base.straight(525)
    await drive_base.turn(60)

    await drive_base.straight(50)
    await right_arm.run_angle(2000,1000)
    await drive_base.straight(-50)
    await drive_base.turn(45)
    await drive_base.straight(50)
    await right_arm.run_angle(350,-1000)

    await drive_base.turn(-100)
    await drive_base.straight(-600)

async def Run3():
    await drive_base.straight(915)
    await drive_base.turn(-90)
    await drive_base.straight(60)
    await left_arm.run_angle(10000,-15000)
    await drive_base.straight(-60)
    await drive_base.turn(85)
    await drive_base.straight(2000)

async def Run5():
    await drive_base.straight(420)
    await right_arm.run_angle(300,-100)
    await drive_base.straight(-100)
    await right_arm.run_angle(300, 100)
    await drive_base.straight(-350)


async def Run6():
    await drive_base.straight(420)
    await right_arm.run_angle(300,-100)
    await drive_base.straight(-100)
    await right_arm.run_angle(300, 100)
    await drive_base.straight(-350)

async def main():
    while True:
        detected_color = color_sensor.color(True)
    
        if detected_color == Color.GREEN:
            print('Detected color: Green')
            await Run1()
            
        elif detected_color == Color.WHITE:
            print('Detected color: White')
            await Run2()
            
        elif detected_color == Color.YELLOW:
            print('Detected color: Yellow')
            await Run3()

        elif detected_color == Color.BLUE:
            print('Detected color: Blue')
            await Run5()

        elif detected_color == Color.RED:
            print('Detected color: Red')
            await Run6()
            
        else:
            print("None detected")

# Main execution
run_task(main())