from pybricks.pupdevices import Motor, Remote, Light
from pybricks.parameters import Port, Direction, Stop, Button
from pybricks.tools import wait


# Initialize the motors.
steer = Motor(Port.B)
light = Light(Port.C)
front = Motor(Port.A, Direction.COUNTERCLOCKWISE)

front.control.limits(acceleration=500)
steer.control.limits(acceleration=500)
remote = Remote()

left_end = steer.run_until_stalled(-200, then=Stop.HOLD)
right_end = steer.run_until_stalled(200, then=Stop.HOLD)


steer.reset_angle((right_end - left_end) / 2)
steer.run_target(speed=200, target_angle=0, wait=False)
hold = False
while True:
    pressed = remote.buttons.pressed()

    steer_angle = 0
    if Button.RIGHT_MINUS in pressed:
        steer_angle -= 75
    if Button.RIGHT_PLUS in pressed:
        steer_angle += 75
    if Button.RIGHT in pressed:
        steer_angle = 0
    steer.run_target(500, steer_angle, wait=False)

    drive_speed = 0
    if Button.LEFT_PLUS in pressed:
        drive_speed += 5000
    if Button.LEFT_MINUS in pressed:
        drive_speed -= 5000
    if Button.LEFT in pressed:
       wait(500)
       if hold == True:
        hold = False
       else:
        hold = True


    bright = front.speed() / 15
    if hold == True:
        front.control.limits(acceleration=5000)
        front.run(750)
        light.on(bright)

    else:
        front.control.limits(acceleration=500)
        front.run(drive_speed)
        light.on(bright)