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careful_forward.py

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+import time
+import robot
+
+POWER = 70
+
+RIGHT_WHEEL_OFFSET = 5
+
+def careful_forward(drive_time, arlo):
+    start = time.time()
+    end = start + drive_time
+    while time.time() < end:
+        forward_dist = arlo.read_front_ping_sensor()
+        right_dist = arlo.read_right_ping_sensor()
+        left_dist = arlo.read_left_ping_sensor()
+        if all(x < 100 for x in [forward_dist, right_dist, left_dist]):
+            arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
+        else:
+            arlo.stop()
+        time.sleep(0.1)
+
+def main():
+    drive_time = int(input())
+    arlo = robot.Robot()
+    careful_forward(drive_time, arlo)
+
+if __name__ == "__main__":
+    main()