from pybricks.pupdevices import Motor, Remote
from pybricks.parameters import Port, Direction, Stop, Button
from pybricks.tools import wait

# Initialize the motors.
steer = Motor(Port.B, Direction.COUNTERCLOCKWISE)
drive = Motor(Port.A, Direction.COUNTERCLOCKWISE)

# Lower the acceleration so the car starts and stops realistically.
drive.control.limits(acceleration=1000) #1000

# Connect to the remote.
remote = Remote()
#print(remote.address()) Not supported yet
#remote.light.on(Color.CYAN)

# Find the steering endpoint on the left and right.
# The middle is in between.
steer.reset_angle(0)
left_end = steer.run_until_stalled(-300, then=Stop.HOLD) # 200
right_end = steer.run_until_stalled(300, then=Stop.HOLD)

print(Left , left_end)
print(Right , right_end)

# We are now at the right. Reset this angle to be half the difference.
# That puts zero in the middle.
steer.reset_angle((right_end - left_end)  2)
steer.run_target(speed=300, target_angle=0, wait=False)

# Now we can start driving!
while True
    # Check which buttons are pressed.
    pressed = remote.buttons.pressed()
    #print(pressed , pressed)

    # Choose the steer angle based on the left controls.
    steer_angle = 0
    if Button.LEFT_PLUS in pressed
        steer_angle -= 90 # 75
    if Button.LEFT_MINUS in pressed
        steer_angle += 90

    # Steer to the selected angle.
    steer.run_target(500, steer_angle, wait=False)

    # Choose the drive speed based on the right controls.
    drive_speed = 0
    if Button.RIGHT_PLUS in pressed
        drive_speed += 100 # 1000
    if Button.RIGHT_MINUS in pressed
        drive_speed -= 100 # 1000 

    # HOLD if left is pressed, else apply the selected speed.
    if Button.LEFT in pressed
        drive.hold()
    elif Button.RIGHT in pressed
        #drive.run(drive_speed  2)
        drive.dc(drive_speed  2)
    else
        drive.dc(drive_speed)

    # Wait.
    wait(10)

