trackless_master

local perf = peripheral.getNames()

local relay = peripheral.wrap(perf[2])

local m1 = peripheral.wrap(perf[3])
local m2 = peripheral.wrap(perf[5])
local m3 = peripheral.wrap(perf[8])
local m4 = peripheral.wrap(perf[4])

local motor = {m1,m2,m3,m4}

local w1 = peripheral.wrap(perf[7])
local w2 = peripheral.wrap(perf[9])
local w3 = peripheral.wrap(perf[6])
local w4 = peripheral.wrap(perf[10])

local wheel = {w1,w2,w3,w4}

for x = 1, 4 do
    wheel[x].setSteering(0)
    motor[x].setGeneratedSpeed(0)
    wheel[x].setBrake(0)
end

function spin_cw(speed, time)
    parallel.waitForAll(function(spawn)
        spawn(function(); m1.setGeneratedSpeed(speed) end)
        spawn(function(); m2.setGeneratedSpeed(speed) end)
        spawn(function(); m3.setGeneratedSpeed(speed) end)
        spawn(function(); m4.setGeneratedSpeed(speed) end)
    end)
    sleep(time)
end

function spin_cc(speed, time)
    parallel.waitForAll(function(spawn)
        spawn(function(); m1.setGeneratedSpeed(-speed) end)
        spawn(function(); m2.setGeneratedSpeed(-speed) end)
        spawn(function(); m3.setGeneratedSpeed(-speed) end)
        spawn(function(); m4.setGeneratedSpeed(-speed) end)
    end)
    sleep(time)
end

function stop()
    parallel.waitForAll(function(spawn)
        spawn(function(); w1.setBrake(1) end)
        spawn(function(); w2.setBrake(1) end)
        spawn(function(); w3.setBrake(1) end)
        spawn(function(); w4.setBrake(1) end)
    end)
    for x = 1, 4 do
        wheel[x].setSteering(0)
        wheel[x].setBrake(0)
        motor[x].setGeneratedSpeed(0)
    end
end

function pause(time)
    stop()
    sleep(time)
end

function forward(speed, time)

    parallel.waitForAll(function(spawn)
        spawn(function(); m1.setGeneratedSpeed(-speed) end)
        spawn(function(); m2.setGeneratedSpeed(0) end)
        spawn(function(); m3.setGeneratedSpeed(speed) end)
        spawn(function(); m4.setGeneratedSpeed(0) end)
    end)

    sleep(time)
end

function reverse(speed, time)

    parallel.waitForAll(function(spawn)
        spawn(function(); m1.setGeneratedSpeed(speed) end)
        spawn(function(); m2.setGeneratedSpeed(0) end)
        spawn(function(); m3.setGeneratedSpeed(-speed) end)
        spawn(function(); m4.setGeneratedSpeed(0) end)
    end)

    sleep(time)
end

function left(speed, time)

    parallel.waitForAll(function(spawn)
        spawn(function(); m1.setGeneratedSpeed(0) end)
        spawn(function(); m2.setGeneratedSpeed(-speed) end)
        spawn(function(); m3.setGeneratedSpeed(0) end)
        spawn(function(); m4.setGeneratedSpeed(speed) end)
    end)

    sleep(time)
end

function right(speed, time)

    parallel.waitForAll(function(spawn)
        spawn(function(); m1.setGeneratedSpeed(0) end)
        spawn(function(); m2.setGeneratedSpeed(speed) end)
        spawn(function(); m3.setGeneratedSpeed(0) end)
        spawn(function(); m4.setGeneratedSpeed(-speed) end)
    end)

    sleep(time)
end

function f_left(speed, time)

    parallel.waitForAll(function(spawn)
        spawn(function(); m1.setGeneratedSpeed(-speed) end)
        spawn(function(); m2.setGeneratedSpeed(-speed) end)
        spawn(function(); m3.setGeneratedSpeed(speed) end)
        spawn(function(); m4.setGeneratedSpeed(speed) end)
    end)

    sleep(time)
end

function f_right(speed, time)

    parallel.waitForAll(function(spawn)
        spawn(function(); m1.setGeneratedSpeed(-speed) end)
        spawn(function(); m2.setGeneratedSpeed(speed) end)
        spawn(function(); m3.setGeneratedSpeed(speed) end)
        spawn(function(); m4.setGeneratedSpeed(-speed) end)
    end)

    sleep(time)
end

function b_left(speed, time)

    parallel.waitForAll(function(spawn)
        spawn(function(); m1.setGeneratedSpeed(speed) end)
        spawn(function(); m2.setGeneratedSpeed(-speed) end)
        spawn(function(); m3.setGeneratedSpeed(-speed) end)
        spawn(function(); m4.setGeneratedSpeed(speed) end)
    end)

    sleep(time)
end

function b_right(speed, time)

    parallel.waitForAll(function(spawn)
        spawn(function(); m1.setGeneratedSpeed(speed) end)
        spawn(function(); m2.setGeneratedSpeed(speed) end)
        spawn(function(); m3.setGeneratedSpeed(-speed) end)
        spawn(function(); m4.setGeneratedSpeed(-speed) end)
    end)

    sleep(time)
end

local dock = 0

function toggle_dock()
    if dock == 0 then
        dock_on()
        dock = 1
    elseif dock == 1 then
        dock_off()
        dock = 0
    end
end

function dock_on()
    relay.setOutput("front", true)
end

function dock_off()
    relay.setOutput("front", false)
end

repeat
    write("Enter direction: ")
    dir = read()
    if dir == "x" then
        return
    elseif dir == "d" then
        goto skip
    end
    write("Enter power: ")
    pow = tonumber(read())
    if pow == "x" then
        return
    end
    write("Enter time: ")
    time = tonumber(read())
    if time == "x" then
        return
    end
    ::skip::
    if dir == "f" then
        forward(pow, time)
    elseif dir == "b" then
        reverse(pow, time)
    elseif dir == "l" then
        left(pow, time)
    elseif dir == "r" then
        right(pow, time)
    elseif dir == "cw" then
        spin_cw(pow, time)
    elseif dir == "cc" then
        spin_cc(pow, time)
    elseif dir == "fl" then
        f_left(pow, time)
    elseif dir == "fr" then
        f_right(pow, time)
    elseif dir == "bl" then
        b_left(pow, time)
    elseif dir == "br" then
        b_right(pow, time)
    elseif dir == "d" then
        toggle_dock()
    end
    stop()
until dir == "x"

stop()