import time
import struct
import math
import ev3 as ev3

addr = '/dev/rfcomm0'
#addr = "127.0.0.1:5555"

if ("__main__" == __name__):
	with ev3.EV3(addr) as brick:
		print ("Connection opened (press 'q' to quit).")
		time.sleep(5)
		data = ev3.system_command.list_files(brick, ev3.KnownPaths.PROJECTS_PATH)
		print (data)
		for i in range(0, 200):
			msg = "Count=" + str(i)

			print ("Send: " + msg)
			ev3.system_command.write_mailbox(brick, 'Text Message', msg)
			data = struct.pack("f", 100*math.sin(2*math.pi*float(i)/100))
			ev3.system_command.write_mailbox(brick, 'Value', data)
			time.sleep(0.1)

		cmd = ev3.direct_command.DirectCommand()
		cmd.add_output_speed(ev3.direct_command.OutputPort.PORT_D, 50)
		cmd.add_output_start(ev3.direct_command.OutputPort.PORT_D)
		cmd.add_output_ready(ev3.direct_command.OutputPort.PORT_D)
		cmd.add_timer_wait(1000)
		cmd.add_output_stop(ev3.direct_command.OutputPort.PORT_D, ev3.direct_command.StopType.BRAKE)
		cmd.send(brick)

		for i in range(0, 2):
			cmd = ev3.direct_command.DirectCommand()
			cmd.add_output_ready(ev3.direct_command.OutputPort.PORT_D)
			cmd.add_output_step_speed(ev3.direct_command.OutputPort.PORT_D, 20, 30, 360, 90, ev3.direct_command.StopType.BRAKE)
			cmd.add_output_ready(ev3.direct_command.OutputPort.PORT_D)
			cmd.add_output_step_speed(ev3.direct_command.OutputPort.PORT_D, -20, 30, 360, 90, ev3.direct_command.StopType.BRAKE)
			cmd.send(brick)

		time.sleep(5.0)