#!/usr/bin/env python
# -*- coding: utf-8 -*-
 
import BrickPi as bp
 
import time
 
MOTOR_A = bp.PORT_A
MOTOR_B = bp.PORT_B
motors = [MOTOR_A, MOTOR_B]
 
bp.BrickPiSetup()
for motor in motors:
    bp.BrickPi.MotorEnable[motor] = 1
bp.BrickPiSetupSensors()
 
bp.BrickPiUpdateValues()
 
speed = 200
angle = 360
 
try:
    rotation_dir = 1
    while True:
        bp.motorRotateDegree([speed] * 2, [angle * rotation_dir] * 2, motors)
        rotation_dir = -rotation_dir

        time.sleep(0.5)
 
except KeyboardInterrupt:
    print('\nTerminating...')
    for motor in motors:
        bp.BrickPi.MotorSpeed[motor] = 0
    bp.BrickPiUpdateValues()