import wpilib

from helpers import *
from magicbot.magic_tunable import tunable
from magicbot import magic_motion_profile_drivetrain
from common import ir


class Drive(magic_motion_profile_drivetrain):
    robot_drive = wpilib.RobotDrive

    left_drive_motor = wpilib.Spark
    right_drive_motor = wpilib.Spark

    rotation_speed = resetsTo(0)
    forwards_speed = resetsTo(0)

    def __init__(self):
        self.set_profile_forwards(max_feet_per_second=8, acceleration_seconds=1.5, deceleration_seconds=1)
        self.set_profile_rotation(max_degrees_per_second=90, acceleration_seconds=0.5, deceleration_seconds=0.5)

    def execute(self):
        self.robot_drive.arcadeDrive(self.forwards, self.rotation)