#!/usr/bin/env python3

import sys
import time
import evdev
import ev3dev.auto as ev3
from ev3dev.ev3 import *
from ev3dev2.motor import LargeMotor
from ev3dev2.motor import SpeedDPS, SpeedRPM, SpeedRPS, SpeedDPM

def main():
    light = LightSensor('in4')
    motor = LargeMotor('outA')
    motor.stop(stop_action="hold")
    print("tento program")
    rel0 = motor.position
    motor.run_forever(speed_sp=-150)
    maxi = 0
    pos = 0
    dist = 0
    us = UltrasonicSensor('in3')
    a = []
    d = []
    while motor.position > rel0-1000:
        val = light.ambient_light_intensity
        dist = us.distance_centimeters
        a.append((val, dist))
        if len(a) > 20 and abs(a[-20][0]-a[-1][0])> 20:
            d.append(a[-10][1])
            break
        print(val, us.distance_centimeters)
        a.append((val, dist))
    motor.stop(stop_action="hold")
    print(d)
    print(d[0]-2)

if __name__ == '__main__':
    main()