from Phidget22.Phideget import *
from Phidget22.Devices.DCMotor import *
from Phidget22.Devices.Encoder import *
from Phidget22.Devices.VoltageInput import *
import time
import sys



def onPositionChange(self, positionChange, timeChange, indexTriggered):
    print("-"*10)
    print("PositionChange: %d" % positionChange)
    print("TimeChange: %f" % timeChange)
    print("IndexTriggered %d" % indexTriggered)
    print("getPosition: %d" % self.getPosition())
    print("-"*10)




def onVelocityUpdate(self, velocity):
    print("Veolcity: %f" % velocity)

def main():
    dcMotor0 = DCMotor()
    encoder0 = Encoder()

    encoder0.setOnPositionChangeHandler(onPositionChange)
    dcMotor0.setOnVeolocityUpdateHandler(onVelocityUpdate)

    encoder0.openWaitForAttachment(1000)
    dcMotor0.openWaitForAttachment(1000)

    encoder0.setPositionChangeTrigger(0)
    dcMotor0.setTargetVelocity(0.5)

    try:
        while True:
            time.sleep(1.0)
    except KeyboardInterrupt as e:
        print(e)
    finally:
        dcMotor0.close()
        encoder0.close()

if __name__ == "__main__":
    main()