import serial
import time

try:
    puerto = serial.Serial('/dev/ttyAMA0', 921600, timeout=0.1)
    print("Puerto abierto correctamente.")
    
    # Limpiar buffer
    puerto.reset_input_buffer()
    
    # Enviar comando de adelante al 20%
    print("Enviando comando: A:0.200,0.200,0.200,0.200")
    puerto.write(b"A:0.200,0.200,0.200,0.200\n")
    
    t_end = time.time() + 2.0
    while time.time() < t_end:
        if puerto.in_waiting:
            line = puerto.readline().decode('utf-8', errors='ignore').strip()
            print("RX:", line)
            
    # Detener
    puerto.write(b"S:\n")
    print("Comando S (stop) enviado.")
    
except Exception as e:
    print("Error:", e)