#!/usr/bin/env python3
from ev3dev2.motor import LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent, MoveTank
from ev3dev2.sensor import INPUT_1
from ev3dev2.sensor .lego import UltrasonicSensor
from ev3dev2.sound import Sound
from ev3dev2.led import Leds

motor_angle= LargeMotor(OUTPUT_A)
cannon = MediumMotor(OUTPUT_D)
sonido = Sound()
sensor = UltrasonicSensor(INPUT_1)
sensor.mode = "US-DIST-CM" 
tankmoves = MoveTank(OUTPUT_B,OUTPUT_C)
print(sensor.value()/10)

def moveUp():
    print("Moving up...")
    tankmoves.on(SpeedPercent(100),SpeedPercent(100))
def moveDown():
    print("Moving down...")
    tankmoves.on(SpeedPercent(-100),SpeedPercent(-100))
def moveRight():
    print("Moving right...")
    tankmoves.on(SpeedPercent(100),SpeedPercent(-100))
def moveLeft():
    print("Moving left...")
    tankmoves.on(SpeedPercent(-100),SpeedPercent(100))
def Inclinacion0():
    motor_angle.on_for_degrees(7,55,brake=True)
def Inclinacion45():
    motor_angle.on_for_degrees(7,-55,brake=True)

def Disparar():    
    cannon.on(SpeedPercent(-100))
def Apuntar():
    sensor.value #valor del sensor en milimetro

def Luciano():
    sonido.speak("gorila tank mak two")
def Distancia():

    while(sensor.value()/10 <= 100 or sensor.value()/10 >= 110):
        print(sensor.value()/10)
        if(sensor.value()/10 < 100):
            tankmoves.on(SpeedPercent(-40),SpeedPercent(-40))

        else:
            tankmoves.on(SpeedPercent(40),SpeedPercent(40))
    Stop()

def Stop():
    tankmoves.stop()

def StopCannon():
    cannon.stop()
    sonido.play_file("misioncumplida.wav",100,1)