#!/usr/bin/python

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 sys
sys.path.append('/home/user/codeq')
import time
from ev3dev import *
from mindstorms_widgets import mindstorms_widgets

robot = mindstorms_widgets()
robot.connect_motor( 'left' )
robot.connect_motor( 'right' )

mw=True

if mw:
	robot.connect_sensor( 'ultrasonic' )
	robot.move_steering( 'on', power=80 )
	while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 500:
		print(robot.ultrasonic_sensor_measure( 'distance-cm' ) )
	print(robot.ultrasonic_sensor_measure( 'distance-cm' ) )
	robot.move_steering( 'on', power=20 )
	while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 200:
		print(robot.ultrasonic_sensor_measure( 'distance-cm' ) )
	robot.move_steering( 'off' )
else:
	us = ultrasonic_sensor()
	assert us.connected
	us.mode = 'US-DIST-CM' # Continuous measurement of distance (0-2550 mm)
	robot.move_steering( 'on', power=80 )
	while us.value()>500:
		print( us.value() )
	print( us.value() )
	robot.move_steering( 'on', power=20 )
	while us.value()>200:
		print( us.value() )
	robot.move_steering( 'off' )