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

# from pybricks.hub import PrimHub

mDestra = Motor(Port.F)
mSinistra = Motor(Port.B)


def vai_avanti(speed, gradi):
    print(f"vado avanti di {gradi} a {speed}")
    mSinistra.run_angle(speed, gradi, then=Stop.NONE, wait=False)
    mDestra.run_angle(-speed, gradi, then=Stop.NONE, wait=True)


def turn(speed_L, speed_R, gradi):
    print("girano le palle")
    mSinistra.run_angle(speed_L, gradi, then=Stop.NONE, wait=False)
    mDestra.run_angle(speed_R, gradi, then=Stop.NONE, wait=True)


# reset_angle()

# vai_avanti(1000, 360)
turn(1000, 1000, 120)
# vai_avanti(1000, 360)
# turn(1000, 1000, 360)
# vai_avanti(1000, 360)
# turn(1000, 1000, 360)
# vai_avanti(1000, 360)
# turn(1000, 1000, 360)

# giro = hub.imu.heading()
# print(giro)

while not (mSinistra.done() and mDestra.done()):
    wait(10)