text: from typing import Optional, Tuple
  from time import sleep
  
  from helpers import map_range, angle_to_tank, clamp
  
  from brickpi3 import BrickPi3
  
  from gpiozero.pins.pigpio import PiGPIOFactory
  from gpiozero import AngularServo, LED
  
  class Claw(object):
      def calibrate(self):
          pass
  
      def open(self):
          pass
  
      def close(self):
          pass
  
      def set_position(self, pos: int):
          pass
  
  class Driver(object):
      def __init__(self):
          self.claw = Claw()
  
      def calibrate(self):
          pass
  
      def run(self, steering, throttle):
          pass
  
      def run_dps(self, steering, throttle):
          pass
  
      def turn_left(self, throttle: float):
          pass
  
      def turn_right(self, throttle: float):
          pass
  
      def stop(self):
          pass
  
      def shutdown(self):
          pass
  
  
  class BrickPiDriveMotor(object):
      def __init__(self, port: int, bp: BrickPi3):
          self.bp: BrickPi3 = bp
  
          self.port = port
  
      def run(self, speed: float):
          if speed > 1 or speed < -1:
              raise ValueError(
                  "throttle must be between 1(forward)\
                   and -1(reverse)"
              )
  
          self.bp.set_motor_power(self.port, speed * -100)
  
      def run_dps(self, dps: int):
          self.bp.set_motor_dps(self.port, dps * -1)
  
      def stop(self):
          self.run(0)
  
      def shutdown(self):
          self.bp.set_motor_power(self.port, 0)
  
  
  class BrickPiSteering(object):
      def __init__(self, port: int, bp: BrickPi3):
          self.bp = bp
  
          self.angle = 0.0
          self.max_angle = 0.0
  
          self.port = port
          self.calibrate()
  
      def calibrate(self):
          # Calibrate the steering
          self.bp.set_motor_power(self.port, 70)
          sleep(1)
          self.bp.set_motor_power(self.port, 0)
          sleep(1)
          self.bp.reset_motor_encoder(self.port)
  
          self.bp.set_motor_power(self.port, -70)
          sleep(1)
          self.bp.set_motor_power(self.port, 0)
          sleep(1)
          self.max_angle = self.bp.get_motor_encoder(self.port)
  
          self.run(0)
  
      def run(self, angle: float):
          if angle > 1 or angle < -1:
              return
  
          self.angle = map_range(angle * -1, -1, 1, 0, self.max_angle)
  
          self.bp.set_motor_position(self.port, self.angle)
  
      def shutdown(self):
          self.bp.set_motor_power(self.port, 0)
  
  
  class BrickPiSteerDriver(Driver):
      def __init__(self):
          super().__init__()
  
          self.bp = BrickPi3()
  
          self.steering = BrickPiSteering(self.bp.PORT_C, self.bp)
          self.throttle = BrickPiDriveMotor(self.bp.PORT_B, self.bp)
  
      def calibrate(self):
          self.steering.calibrate()
  
      def steer(self, steering: float):
          angle = map_range(steering, -1, 1, -0.7, 0.7)
          self.steering.run(angle)
  
      def run(self, steering: float, throttle: float):
          self.steer(steering)
          self.throttle.run(throttle * -1)
  
      def run_dps(self, steering: float, dps: int):
          self.steer(steering)
          self.throttle.run_dps(dps)
  
      def stop(self):
          self.throttle.stop()
  
      def turn_left(self, throttle):
          if throttle > -0.4 and throttle < 0.4:
              self.steer(-1)
          else:
              self.steer(-0.5)
          self.throttle.run(throttle)
  
      def turn_right(self, throttle):
          if throttle > -0.4 and throttle < 0.4:
              self.steer(1)
          else:
              self.steer(0.5)
  
          self.throttle.run(throttle)
  
      def shutdown(self):
          self.throttle.shutdown()
          self.steering.shutdown()
  
          self.bp.reset_all()
  
  
  class BrickPiClaw(Claw):
      def __init__(self, port: int, bp: BrickPi3):
          self.bp = bp
          self.port = port
  
          self.closed_position: float = 0
          self.open_position: float = 0
  
          self.calibrate()
  
      def calibrate(self):
          self.bp.set_motor_power(self.port, -40)
          sleep(0.8)
          self.shutdown()
          self.closed_position = self.bp.get_motor_encoder(self.port) + 20
          self.open_position = self.closed_position + 130
          self.open()
  
      def close(self):
          self.bp.set_motor_position(self.port, self.closed_position)
  
      def open(self):
          self.bp.set_motor_position(self.port, self.open_position)
  
      def open_partial(self):
          self.bp.set_motor_position(self.port, self.closed_position + 70)
  
      def set_position(self, pos: int):
          self.bp.set_motor_position(self.port, self.open_position - pos)
  
      def shutdown(self):
          self.bp.set_motor_power(self.port, 0)
  
  
  class BrickPiTwoWheelDriver(Driver):
      def __init__(self):
          self.bp = BrickPi3()
  
          self.motors = (
              BrickPiDriveMotor(self.bp.PORT_B, self.bp),
              BrickPiDriveMotor(self.bp.PORT_C, self.bp)
          )
  
      def run(self, steering: float, throttle: float):
          if throttle > 1 or throttle < -1:
              raise ValueError(
                  "throttle must be between 1(forward)\
                  and -1(reverse)"
              )
  
          steer = map_range(steering, -1, 1, -90, 90)
          (left, right) = angle_to_tank(steer, throttle)
  
          self.motors[0].run(left)
          self.motors[1].run(right)
  
      """Can only go straight. `steering` ignored."""
  
      def run_dps(self, steering, dps: int):
          self.motors[0].run_dps(dps)
          self.motors[1].run_dps(dps)
  
      def stop(self):
          self.run(0, 0)
  
      def turn_left(self, throttle: float):
          self.motors[0].run(throttle * -1)
          self.motors[1].run(throttle)
  
      def turn_right(self, throttle: float):
          self.motors[0].run(throttle)
          self.motors[1].run(throttle * -1)
  
      def shutdown(self):
          self.motors[0].shutdown()
          self.motors[1].shutdown()
  
          self.bp.reset_all()
  
  
  class BrickPiTwoWheelClawDriver(BrickPiTwoWheelDriver):
      def __init__(self):
          super().__init__()
          self.claw = BrickPiClaw(self.bp.PORT_C, self.bp)
  
      def calibrate(self):
          self.claw.calibrate()
  
      def shutdown(self):
          self.claw.shutdown()
          super().shutdown()
  
  
  class BrickPiGyro:
      def __init__(self, port: int, bp: BrickPi3):
          self.bp = bp
          self.port = port
  
          self.bp.set_sensor_type(
              self.port,
              self.bp.SENSOR_TYPE.EV3_GYRO_ABS_DPS
          )
  
          # Wait for the sensor to warm up...
          sleep(5)
  
          self.calibrate()
  
      def calibrate(self):
          self.starting_angle = 0
          self.starting_angle = self.get()[0]
  
      def get(self) -> Tuple[int, int]:
          data = self.bp.get_sensor(self.port)
  
          return (data[0] - self.starting_angle, data[1])
  
  
  class BrickPiTwoWheelClawDriver(BrickPiTwoWheelDriver):
      def __init__(self):
          super().__init__()
          self.claw = BrickPiClaw(self.bp.PORT_C, self.bp)
  
      def calibrate(self):
          self.claw.calibrate()
  
      def shutdown(self):
          self.claw.shutdown()
          super().shutdown()
  
  
  class BrickPiTwoWheelClawDriverWithGyro(BrickPiTwoWheelClawDriver):
      def __init__(self):
          super().__init__()
          self.gyro = BrickPiGyro(self.bp.PORT_4, self.bp)
  
      def calibrate(self):
          super().calibrate()
          self.gyro.calibrate()
  
      def rotate_to(self, targetAngle: int, throttle: float, acceptableError=0):
          while True:
              current_angle = self.gyro.get()[0]
              angle_left = current_angle - targetAngle
  
              if angle_left >= (0 - acceptableError) \
                      and angle_left <= acceptableError:
                  break
              else:
                  if angle_left < 0:
                      self.turn_right(throttle)
                  else:
                      self.turn_left(throttle)
  
              sleep(0.05)
  
          self.stop()
  
  
  class BrickPiOneWheelDriver(Driver):
      def __init__(self):
          self.bp = BrickPi3()
  
          self.motor = BrickPiDriveMotor(self.bp.PORT_B, self.bp)
          self.pivot = AngularServo(17, pin_factory=PiGPIOFactory())
          self.min_pivot()
  
      def run(self, steering: float, throttle: float):
          adjusted_throttle = throttle * -1
          if steering >= 0.4:
              self.max_pivot()
          elif steering <= -0.4:
              self.max_pivot()
              adjusted_throttle = throttle
          else:
              self.min_pivot()
  
          self.motor.run(adjusted_throttle)
  
      def min_pivot(self):
          self.pivot.angle = -85
  
      def max_pivot(self):
          self.pivot.angle = 75
  
      def run_dps(self, steering, dps: int):
          adjusted_throttle = dps * -1
          if steering >= 0.8:
              self.max_pivot()
          elif steering <= -0.8:
              self.max_pivot()
              adjusted_throttle = dps
          else:
              self.min_pivot()
  
          self.motor.run_dps(adjusted_throttle)
  
      def stop(self):
          self.run(0, 0)
  
      def turn_left(self, throttle: int):
          self.run_dps(-0.9, throttle)
  
      def turn_right(self, throttle: int):
          self.run_dps(1, throttle)
  
      def shutdown(self):
          self.motor.shutdown()
  
          self.min_pivot()
          sleep(0.5)
          self.pivot.close()
  
          self.bp.reset_all()
  
  
  class BrickPiOneWheelClawDriver(BrickPiOneWheelDriver):
      def __init__(self):
          super().__init__()
          self.claw = BrickPiClaw(self.bp.PORT_C, self.bp)
  
      def calibrate(self):
          self.claw.calibrate()
  
      def shutdown(self):
          self.claw.shutdown()
          super().shutdown()
  
  
  class BrickPiOneWheelClawDriverWithLaser(BrickPiOneWheelClawDriver):
      def __init__(self):
          super().__init__()
          self.laser = LED(4)
          self.laser.off()
  
  class BrickPiOneWheelClawDriverWithGyro(BrickPiOneWheelClawDriver):
      def __init__(self):
          super().__init__()
          self.gyro = BrickPiGyro(self.bp.PORT_4, self.bp)
  
      def calibrate(self):
          super().calibrate()
          self.gyro.calibrate()
  
      def rotate_to(self, targetAngle: int, throttle: int, acceptableError=0):
          while True:
              current_angle = self.gyro.get()[0]
              angle_left = current_angle - targetAngle
  
              if angle_left >= (0 - acceptableError) \
                      and angle_left <= acceptableError:
                  break
              else:
                  if angle_left < 0:
                      self.turn_right(throttle)
                  else:
                      self.turn_left(throttle)
  
              sleep(0.05)
  
          self.stop()
  