__init__.py

# Lidar steered Bioloid robot project
# Used to develop actions for attempt to incorporate into Mycroft Bioloid robot
# Using a laser analog distance sensor - TOF10120

from .Motions import *
from .LEDs import *
from .LIDAR import *
import sys


# SETUP FACE
# Using an Adafruit DotStar 8x8 LED Matrix connected to digital pins 12 and 13 to make faces - see actions_leds module
# Initialize face LED-matrix to all off
initialize_matrix()
# Initialize basic neutral face
initialize_face()

min_dist = 10 # inches


# MAIN LOOP
while True:
    forward()
    dist = read_sensor()
    print("Distance to any object is " + dist)

    if dist < 10: # Sees something less than 10 inches in front.

        stop()
        sleep(.5)
        stop() # make sure it stops
        sleep(1)

        back() # get some maneuvering room
        sleep(2)
        stop()

        right() # check right
        sleep(2)
        stop()
        R = read_sensor()
        print("Right distance is " + R)

        left() # check left
        sleep(4)
        stop()
        L = read_sensor()
        print("Left distance is " + L)

        if L <= R: # if more room right, turn back and go in that direction
            right()
            sleep(4)
            stop()
            sleep(.5)
            forward()

    else:
        forward() # otherwise, move in the left direction


    if dist < 2: # if too close, or if you want to halt operation
        stop()
        sleep(.5)
        sys.exit("Got too close so quitting")