#!/usr/bin/env python3
from ev3dev2.motor import MoveJoystick, MoveDifferential, MoveSteering, MoveTank, OUTPUT_A, OUTPUT_B, SpeedPercent
from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3
from ev3dev2.sensor.lego import ColorSensor, TouchSensor, InfraredSensor
from ev3dev2.wheel import EV3Tire
import time
import code

class Forest:
    def __init__(self, ms = MoveSteering(OUTPUT_A, OUTPUT_B), cs = ColorSensor(INPUT_1)):
        self.steering_drive = ms
        self.color_sensor = cs

    def start(self, TIME_MULTIPLIER = 1, DIRECTION_MULTIPLIER = 1):
        self.steering_drive.on_for_rotations(0, 100, 2)
        self.steering_drive.on_for_rotations(100, 100, 1.2)
        self.steering_drive.on_for_rotations(0, 100, 5)
        self.steering_drive.on_for_rotations(-100, 100, 1)
        self.steering_drive.on_for_rotations(0, 100, 2.4)
        self.steering_drive.on_for_rotations(-100, 100, 1.4)
        self.steering_drive.on_for_rotations(0, 100, 5)
        self.steering_drive.on_for_rotations(100, 100, 1.5)
        self.steering_drive.on_for_rotations(0, 100, 5)
        self.steering_drive.on_for_rotations(-100, 100, 1.6)
        self.steering_drive.on_for_rotations(0, 100, 3.1)
        self.steering_drive.on_for_rotations(100, 100, 0.7)
        self.steering_drive.on_for_rotations(0, 100, 5)

def main():
    forest = Forest()
    forest.start()

if __name__ == "__main__":
    main()
