from time import sleep
import robot

POWER = 50

TURN_T = 0.08 # 10 degrees

RIGHT_WHEEL_OFFSET = 4

CLOCKWISE_OFFSET = 0.82

MORSE = {
  "0": "-----",
  "1": ".----",
  "2": "..---",
  "3": "...--",
  "4": "....-",
  "5": ".....",
  "6": "-....",
  "7": "--...",
  "8": "---..",
  "9": "----.",
  "a": ".-",
  "b": "-...",
  "c": "-.-.",
  "d": "-..",
  "e": ".",
  "f": "..-.",
  "g": "--.",
  "h": "....",
  "i": "..",
  "j": ".---",
  "k": "-.-",
  "l": ".-..",
  "m": "--",
  "n": "-.",
  "o": "---",
  "p": ".--.",
  "q": "--.-",
  "r": ".-.",
  "s": "...",
  "t": "-",
  "u": "..-",
  "v": "...-",
  "w": ".--",
  "x": "-..-",
  "y": "-.--",
  "z": "--..",
  ".": ".-.-.-",
  ",": "--..--",
  "?": "..--..",
  "!": "-.-.--",
  "-": "-....-",
  "/": "-..-.",
  "@": ".--.-.",
  "(": "-.--.",
  ")": "-.--.-"
}

def short_wiggle(arlo):
    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
    sleep(TURN_T * CLOCKWISE_OFFSET)
    arlo.stop()
    sleep(0.2)
    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
    sleep(TURN_T)
    arlo.stop()

def long_wiggle(arlo):
    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
    sleep(TURN_T * CLOCKWISE_OFFSET * 2)
    arlo.stop()
    sleep(0.3)
    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
    sleep(TURN_T * 2)
    arlo.stop()

def main():
    # Initializes the robot and runs the
    arlo = robot.Robot()

    text = input()
    for word in text.split(" "):
        for character in word:
            morse_code = MORSE[character]
            for morse_character in morse_code:
                if morse_character == ".":
                    short_wiggle(arlo)
                else:
                    long_wiggle(arlo)
                sleep(0.2)
            sleep(0.5)
        sleep(1)


if __name__ == "__main__":

    main()