using Lego.Ev3.Core;
using Lego.Ev3.Desktop;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace ConsoleApp2
{
    class Program
    {
        static int kubicaCounter = 0;
        public static void Main(string[] args)
        {
            MainAsync().GetAwaiter().GetResult();
        }
        static async Task MainAsync()
        {
            Brick brick = new Brick(new BluetoothCommunication("COM8"));
            await brick.ConnectAsync();
            while (true)
            {
                var value = brick.Ports[InputPort.Three].RawValue;
                Console.WriteLine(value);
                if ( value < 10)
                {
                    Console.WriteLine("Black");
                    kubicaCounter++;
                    if (kubicaCounter >6)
                    {
                        kubicaCounter = 0;
                        await KubicaMode(brick);
                        Console.WriteLine("eeeeeeee");

                    }
                }
                else if (value > 75 && value < 101)
                {
                    Console.WriteLine("Red");
                    await TurnRight(brick);
                    if (value > 95)
                        await TurnRightStronger(brick);
                    kubicaCounter = 0;
                }
                else if (value > 10 && value <= 15)
                {
                    Console.WriteLine("Blue");
                    await TurnLeft(brick);

                    kubicaCounter = 0;

                }
                else if (value > 30 && value < 80)
                {
                    Console.WriteLine("Else");
                    await MoveSlower(brick);
                    kubicaCounter = 0;

                }

                Thread.Sleep(15);
            }
        }

        async static Task KubicaMode(Brick brick)
        {
            await brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.C, 50);
            await brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.B, 50);
        }

        async static Task MoveSlower(Brick brick)
        {
            await brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.C, 20);
            await brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.B, 20);
            return;
        }
        async static Task TurnRight(Brick brick)
        {
           
                await brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.B, 10);
                await brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.C, 35);
            
            
        }
        async static Task TurnRightStronger(Brick brick)
        {

            await brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.B, 10);
            await brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.C, 35);


        }
        async static Task TurnLeft (Brick brick)
        {
            await brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.B, 35);
            await brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.C,10);
        }
    }
}