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

# Set up all devices.
prime_hub = PrimeHub()
color_sensor_R = ColorSensor(Port.E)
watch_2 = StopWatch()
motor_R = Motor(Port.A, Direction.CLOCKWISE)
motor_L = Motor(Port.B, Direction.COUNTERCLOCKWISE)
Power_R_ = Motor(Port.C, Direction.COUNTERCLOCKWISE)
Power_L = Motor(Port.D, Direction.COUNTERCLOCKWISE)
drive_base = DriveBase(motor_L, motor_R, 56, 114)

# Initialize variables.
senosr_R = 0
senosr_L = 100

async def main():
    print('Hello, Pybricks!')
    drive_base.use_gyro(True)
    await drive_base.straight(800, then=Stop.BRAKE)
    await Power_L.run_angle(500, -445)
    drive_base.use_gyro(False)
    await multitask(
        drive_base.straight(-65),
        Power_L.run_angle(500, 445),
    )
    drive_base.settings(straight_speed=150)
    await drive_base.turn(100)
    await wait(200)
    await Power_R_.run_angle(350, -250)
    await wait(200)
    await Power_R_.run_angle(250, 250)
    await wait(200)
    await drive_base.straight(-100)
    await multitask(
        motor_L.run_angle(500, 100),
        motor_R.run_angle(500, -100),
    )
    await drive_base.straight(300)
    await drive_base.straight(-400)
    await multitask(
        motor_L.run_angle(700, 340),
        motor_R.run_angle(700, -340),
    )
    drive_base.settings(straight_speed=475)
    await drive_base.straight(475)


run_task(main())