#!/usr/bin/env python
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# Revision $Id$

import time
from SabertoothSerial.SabertoothDriverSimple import SerialMotorControl

# Basic autonomous to test all directions on your robot, assuming it is a drive train

# This cannot be interrupted normally! If using with robot drive train, prop wheels up off of the ground for testing

# Basic pseudo code
# - Stop motors
# - Wait for 1 second
# - Drive forward for 2 seconds at 100% power
# - Drive backward for 2 seconds at 100% power
# - Drive left (on a dime) for 2 seconds at 100% power
# - Drive right (on a dime) for 2 seconds at 100% power
# - Drive forward for 2 seconds at 50% power, manually controlling the motor opposed to using helper
# functions that assume drive train usage
# - Stop


# Setup SerialMotorControl from SabertoothSerial.SabertoothDriverSimple, passing in the serial port
motors = SerialMotorControl('/dev/ttyUSB0')  # This will be different for you


def run():
    motors.stop()
    time.sleep(1)
    motors.drive_forward(100)
    time.sleep(2)
    motors.drive_backward(100)
    time.sleep(2)
    motors.drive_left(100)
    time.sleep(2)
    motors.drive_right(100)
    time.sleep(2)
    motors.motor_raw_simple(0, 50)  # Individual Motor control, starting at 0
    motors.motor_raw_simple(1, 50)
    time.sleep(2)
    motors.stop()


if __name__ == '__main__':
    run()
