from time import sleep
import robot

POWER = 70

TURN_T = 0.076 # 10 degrees
DRIVE_A = 16 # 10 centimeter drive at power 1

TURN_COUNTER_OFFSET = 1.042

def square(arlo, drive_t):
    while True:
        # Driving forward
        arlo.go_diff(POWER, POWER, 1, 1)
        sleep(drive_t * 10)
        arlo.stop()

        sleep(1)

        # Turning 90 degrees
        arlo.go_diff(POWER, POWER, 0, 1)
        sleep(TURN_T * 9 * TURN_COUNTER_OFFSET)
        arlo.stop()

        sleep(1)

def main():
    # Calculates sleep times for the robot
    drive_t = DRIVE_A / POWER # 10 centimeter drive at given power

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

    try:
        square(arlo, drive_t)

    except KeyboardInterrupt:
        arlo.stop()


if __name__ == "__main__":

    main()