#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
                                 InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile


# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.


# Create your objects here.
ev3 = EV3Brick()
my_left_kidney_ran_away_from_home_and_i_am_really_sad = Motor(Port.C)
right_motor = Motor(Port.B)
sacrifice = Motor(Port.A)
soulsofdamned = DriveBase(my_left_kidney_ran_away_from_home_and_i_am_really_sad, right_motor, wheel_diameter=57.15, axle_track=88.9)
sensor = UltrasonicSensor(Port.S4)
# Sensor ports (the numbers) must be defined with an S compared to the motor ports that only need their lettering.
# Please keep an S behind numbered ports or it will come to kill you.
# Sensor measures in mm

# Write your program here.
ev3.speaker.beep()
# Obligatory start beep
while True:
    lah = sensor.distance(silent=False)
# Lah defines the distance outputted by the sensor so it can be inputted into a Drivebase/motor. Putting it in the loop repeatedly redefines lah because it acts choppy without it for some reason.
    if obstacle_sensor.distance() > 25.4
        soulsofdamned.straight(lah)
    else
        soulsofdamned.stop(hold)
# Waits for sensor to be roughly an inch away from obstacle before stopping.