import logging

import math

import os

import re

import sys

import time

import ev3dev.auto

from http.server import BaseHTTPRequestHandler, HTTPServer

from ev3dev.auto import (RemoteControl, list_motors,

INPUT_1, INPUT_2, INPUT_3, INPUT_4,

OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D)

from time import sleep

log = logging.getLogger(__name__)

INPUTS = (INPUT_1, INPUT_2, INPUT_3, INPUT_4)

OUTPUTS = (OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D)

class MotorStartFail(Exception):

pass

class MotorStopFail(Exception):

pass

class MotorPositionFail(Exception):

pass

class MotorStall(Exception):

pass

class MotorMixin(object):

(self, target_position, timeout, pos))

class LargeMotor(ev3dev.auto.LargeMotor, MotorMixin):

pass

class MediumMotor(ev3dev.auto.MediumMotor, MotorMixin):

pass

class ColorSensorMixin(object):

return (red, green, blue)

class ColorSensor(ev3dev.auto.ColorSensor, ColorSensorMixin):

pass

def angle_to_speed_percentage(angle):

return (left_speed_percentage, right_speed_percentage)

def xy_to_speed(x, y, max_speed, radius=100.0):

return (left_speed, right_speed)

def test_xy_to_speed():

assert xy_to_speed(98.07852804032305, -19.509032201612825, 400) == (200, -300), "FAILED"

class RobotWebHandler(BaseHTTPRequestHandler):

pass

max_move_xy_seq = 0

motor_max_speed = None

medium_motor_max_speed = None

joystick_enaged = False

class TankWebHandler(RobotWebHandler):

return True

class RobotWebServer(object):

motor.stop()

class Tank(object):

self.right_motor.polarity = polarity

class RemoteControlledTank(Tank):

motor.stop()

class WebControlledTank(Tank):

self.www.run()

class Wheel(object):

self.circumference = diameter * math.pi

class EV3RubberWheel(Wheel):

def __init__(self):

Wheel.__init__(self, 43.2, 21)