from pybricks.hubs import PrimeHub
from pybricks.parameters import Axis, Direction, Port, Stop
from pybricks.pupdevices import Motor
from pybricks.robotics import DriveBase
from pybricks.tools import wait

from assi import A
from robot_class import LazyRobot, Robot


def main(robot: LazyRobot):  # partenza robot a 1 nero e 1
    msu_L: Motor = robot.extra_L
    msu_R: Motor = robot.extra_R
    hub = robot.hub
    db = robot.db

    def db_settingsInizz():
        db.settings(864, 1000, 100, 50)

    db_settingsInizz()

    db.settings(432, 300, 100, 50)
    db.straight(460)
    msu_R.run_angle(800, -150, Stop.HOLD, wait=True)
    wait(500)
    db.straight(-150)
    msu_L.run_angle(1000, -270, Stop.HOLD, wait=False)
    wait(500)
    db_settingsInizz()
    db.straight(-510)