#!/usr/bin/env python3

import ev3dev.ev3 as ev3
from wheel import Wheel
from sensor import Sensor


class Move:
    def __init__(self, planet):
        self._wheel_l = Wheel('outB')
        self._wheel_r = Wheel('outC')
        self._sensor = Sensor()
        self._bumper = ev3.TouchSensor()

    '''
    determine maximum and minimum brightness of lines/white space
    depending on environment lighting
    '''
    def _calibrate(self):
        pass

    '''
    Function to correct errors should the robot wander astray
    '''
    def _aligntoedge(self):
        pass

    '''
    uses odometry and the planet object to map edges that are connected to
    current node.
    '''
    def getstationedges(self):
        pass

    def traversetonextstation(self, isknownstation):
        self._wheel_l.speed_set = 24
        self._wheel_r.speed_set = 24
        self._wheel_l.run()
        self._wheel_r.run()
        while(self._bumper.value() == False):
#            this does not work... why?
#            self._wheel_l.speed_set(newspeed)
#            self._wheel_r.speed_set(newspeed)
            self._wheel_l._motor.duty_cycle_sp = 48 - self._sensor.getbrightness()
            self._wheel_r._motor.duty_cycle_sp = self._sensor.getbrightness()
            if(isknownstation == False):
                pass #run odometry stuff here
        self._wheel_l.stop()
        self._wheel_r.stop()