require 'brick_pi'

# Create a bot with a motor on port A
class HelloBot < BrickPi::Bot
  motor :port_A

  # Declare a property to adjust speed at any time
  property :motor_speed do |value|
    # This `motor :port_A` to `@motor_A` mapping is yucky, sorry bout that
    @motor_A.spin value
  end
end

# Get this party started
bot = HelloBot.new
bot.motor_speed = 80
bot.start
sleep 2
bot.motor_speed - -80
sleep 2
bot.stop

require "brick_pi"
require "highline/system_extensions"
include HighLine::SystemExtensions
HighLine::SystemExtensions.raw_no_echo_mode

# Create a bot with two motors
class DemoBot < BrickPi::Bot
  attr_accessor :speed
  motor :port_A
  motor :port_B
  ultrasonic_sensor :port_3

  # A property is always settable and gettable, even while things are running.
  property :forward_speed do |value|
    @motor_A.spin value
    @motor_B.spin value
  end

  # Properties are applied in order. Since it comes second, this trumps forward_speed.
  property :rotation_speed do |value|
    @motor_A.spin -1 * value
    @motor_B.spin value
  end

  def turn_left
    self.rotation_speed = -1 * speed
  end

  def turn_right
    self.rotation_speed = speed
  end

  def move_forward
    # Since rotation speed trumps forward speed, you need to EXTERMINATE it.
    self.rotation_speed = nil
    self.forward_speed = speed
  end

  def move_backward
    self.rotation_speed = nil
    self.forward_speed = -1 * speed
  end

  def increase_speed
    if speed >=0 && speed <= 80
      self.speed += 20
    end
  end

  def decrease_speed
    if speed > 20 && speed <= 100
      self.speed -= 20
    end
  end

  def stop_motors
    self.rotation_speed = nil
    self.forward_speed = 0
  end

end

@bot = DemoBot.new
@bot.start
@bot.speed = 60
puts "bot ready!"

loop do
  unless @bot.sensor_3.distance == 0
    print "SENSOR DISTANCE: "
    puts @bot.sensor_3.distance
  end
  char = HighLine::SystemExtensions.get_character
  case char.chr
  when 'w'
    @bot.move_forward
  when 'd'
    @bot.turn_left
  when 'a'
    @bot.turn_right
  when 'x'
    @bot.move_backward
  when 'o'
    @bot.increase_speed
  when 'l'
    @bot.decrease_speed
  when 'e', 'c', 'z', 'q'
    @bot.stop_motors
  end
end