from time import sleep
from pyjuni.deflib import *
from pyjuni.robodog import *
from pyjuni.jkeyevent import *


def ready(dog):
    dog.motor(LEFT_BACK, -80, 60)
    dog.motor(RIGHT_BACK, -80, 30)
    dog.motor(LEFT_FRONT, 10, -80)
    dog.motor(RIGHT_FRONT, 60, -80)
    sleep(0.3)

def shake(dog):
    for n in range(0, 3):
        for k in range(0, 5):
            dog.motor(RIGHT_FRONT, 70+k*7, -80-k*2)
            sleep(0.05)
        for k in range(0, 5):
            dog.motor(RIGHT_FRONT, 42-k*7, -70+k*2)
            sleep(0.05)

if __name__ == "__main__":
    isShaked = False
    robodog = RoboDog()
    jkey = JKeyEvent()  

    robodog.Open()
    sleep(0.2)
    while not jkey.isKeyEscPressed():
        distance = robodog.get_distance()
        if distance < 20:
            if isShaked == False:
                robodog.sound(명령어, 안녕, 크게)
                ready(robodog)
                shake(robodog)
                robodog.gesture(준비)
            isShaked = True
        else:
            robodog.gesture(준비)
            isShaked = False

    robodog.Close()