# Project based on:
# - pybricks[dot]com/project/technic-42109-xbox/
# - docs.pybricks[dot]com/en/latest/robotics.html?highlight=car#pybricks.robotics.Car.drive_power

from pybricks.iodevices import XboxController
from pybricks.parameters import Button, Direction, Port
from pybricks.pupdevices import Motor
from pybricks.robotics import Car
from pybricks.tools import wait

# Set up all devices
steering = Motor(Port.B, Direction.CLOCKWISE)
drive = Motor(Port.D, Direction.CLOCKWISE)
car = Car(steering, drive)
xbox = XboxController()

# The main program starts here
while True:
    # Control steering using the left joystick
    car.steer(xbox.joystick_left()[0])

    # Check if any Xbox controller's button is pressed
    buttons_pressed = xbox.buttons.pressed()
    # Button 'A' acts as brake
    is_brake = Button.A in buttons_pressed
    drive_power = xbox.triggers()[1] - xbox.triggers()[0]
    # Braking has priority over driving (backwards or forwards)
    power = 0 if is_brake else drive_power

    # Control drive power using the trigger buttons
    # Press 'A' to brake
    car.drive_power(power)

    wait(50)