#!/usr/bin/python
# coding=utf-8

print """
Naloga 6:
    Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir.
    Napisi program, s katerim bo robot vozil naravnost proti zidu z 80% mocjo.
    Na razdalji 50 cm od zida naj robot zmanjsa hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi.
"""

import time
from ev3dev import *
from mindstorms_widgets import mindstorms_widgets

us = ultrasonic_sensor();   assert us.connected
us.mode = 'US-DIST-CM' # Continuous measurement of distance (0-2550 mm)

# for m in us.modes:
#     print "\t",m
#exit()
robot = mindstorms_widgets()
robot.connect_motor( 'left' )
robot.connect_motor( 'right' )

robot.move_steering( 'on', power=80 )
while us.value()>500:
    pass
robot.move_steering( 'on', power=20 )
while us.value()>200:
    pass
robot.move_steering( 'off' )