from Driver import PWMDriver as Driver
class driver():
    def setvitesse(self,pin,vitesse):
        print("le moteur avec le pin ",pin," avance à la vitesse", vitesse,".")
        dri=Driver()
        dri.set_esc(pin,vitesse)
class Robot():
    d = [1,2]
    g = [3,4]
    motors = [d[0],d[1],g[0],g[1]]
    class Translation():
        motors = []
        def init(self,v):
            self.motors = v
        def droit(self,v):
            rb = driver().setvitesse
            m = self.motors
            for i in range(len(m)):
                rb(m[i],v)
        def trv(self,v,d):
            rb = driver().setvitesse
            m = self.motors
            if d:
                rb(m[0],v)
                rb(m[3],v)
            else:
                rb(m[1],v)
                rb(m[2],v)
        def sd(self,v):
            rb = driver().setvitesse
            m = self.motors
            rb(m[0],v)
            rb(m[3],v)
            rb(m[1],v*-1)
            rb(m[2],v*-1)
    def Rotation(self,v):
        m = self.motors
        rb = driver().setvitesse
        rb(m[0],v)
        rb(m[1],v)
        rb(m[2],v*-1)
        rb(m[3],v*-1)
    Translation = Translation()
    Translation.init(motors)


"""
r = Robot()
r.Translation.droit(1)
r.Translation.trv(2,True)
r.Translation.sd(5)
r.Translation.sd(-5)
r.Rotation(5)
r.Rotation(-5)
"""