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from pybricks.hubs import TechnicHub
from pybricks.iodevices import XboxController
from pybricks.parameters import Axis, Button, Direction, Port
from pybricks.pupdevices import Motor

# Set up all devices.
top_hub = TechnicHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=1)
Boom_motor = Motor(Port.A, Direction.CLOCKWISE)
arm_motor = Motor(Port.B, Direction.CLOCKWISE)
Bucket_motor = Motor(Port.C, Direction.CLOCKWISE)
Scoop_motor = Motor(Port.D, Direction.CLOCKWISE)
controller = XboxController()

# Initialize variables.
MotorL = 0
MotorR = 0
Turret = 0


# The main program starts here.
print('Hello, Pybricks!')
while True:
    MotorL = controller.joystick_left()[1] - -1 * controller.joystick_left()[0]
    MotorR = controller.joystick_left()[1] - controller.joystick_left()[0]
    Turret = controller.joystick_right()[0]
    Boom_motor.dc(controller.joystick_right()[1])
    if Button.DOWN in controller.buttons.pressed():
        arm_motor.dc(100)
    elif Button.UP in controller.buttons.pressed():
        arm_motor.dc(-100)
    else:
        arm_motor.dc(0)
    if Button.LEFT in controller.buttons.pressed():
        Bucket_motor.dc(100)
    elif Button.RIGHT in controller.buttons.pressed():
        Bucket_motor.dc(-100)
    else:
        Bucket_motor.dc(0)
    if Button.A in controller.buttons.pressed():
        Scoop_motor.dc(100)
    elif Button.B in controller.buttons.pressed():
        Scoop_motor.dc(-100)
    else:
        Scoop_motor.dc(0)
    top_hub.ble.broadcast([MotorL, MotorR, Turret])