import time
from inventor import Inventor2040W, MOTOR_A

"""
   Demonstrates how to control a motor on Inventor 2040 W
Rotate 180 degrees, wait and rotate back to starting position

    ********** HALT with User Button ***********

             Tony Goodhew 28 March 2023
"""

# Create a new Inventor2040W
board = Inventor2040W()

# Access the motor from Inventor and enable it
m = board.motors[MOTOR_A]
m.enable()

sp = 0.2
delay = 1
angle = board.encoders[0].degrees()

while not board.switch_pressed():
    m.speed(sp)
    while angle < 180:
        angle = board.encoders[0].degrees()
    m.speed(0)
    print(board.encoders[0].degrees())
    time.sleep(delay)
    angle = board.encoders[0].degrees()
    m.speed(-sp)
    while angle > 0:
        angle = board.encoders[0].degrees()
    m.speed(0)
    print(board.encoders[0].degrees())
    time.sleep(delay)

# Disable the motor
m.disable()