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

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

    robodog.Open()
    runfile = robodog.rb_runfile("color_detect.py")
    print(runfile)
    sleep(0.5)

    robodog.leg_bend(60, 60, 60,60)
    while (not jkey.isKeyEscPressed()) and robodog.is_rb_alive():
        bodyRotation = robodog.get_rotation()
        rb_horizontal = robodog.get_rb_data(0)
        if rb_horizontal == -127:
            robodog.move(0)
            robodog.rotate(bodyRotation, 100)
        else:
            rotSum = bodyRotation + rb_horizontal/2;
            robodog.rotate(int(rotSum), 100)
            distance = robodog.get_distance()
            if distance < 10 :
                robodog.move(-50)
            elif distance < 20 :
                robodog.move(0)
            else :
                robodog.move(50)
        sleep(0.1)

    robodog.Close()
